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Restructuring - Summary of Restructuring Charges (Details)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
Restructuring Cost and Reserve [Line Items]  
Severance and other personnel costs $ 3,616
Involuntary Terminations  
Restructuring Cost and Reserve [Line Items]  
Severance and other personnel costs 700
Research and development  
Restructuring Cost and Reserve [Line Items]  
Severance and other personnel costs 2,311
Sales and marketing  
Restructuring Cost and Reserve [Line Items]  
Severance and other personnel costs 1,025
General and administrative  
Restructuring Cost and Reserve [Line Items]  
Severance and other personnel costs $ 280