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Restructuring - Summary of Restructuring Charges (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2023
Restructuring Cost and Reserve [Line Items]    
Total $ 1,147 $ 3,604
Involuntary Terminations    
Restructuring Cost and Reserve [Line Items]    
Total 700 700
Research and development    
Restructuring Cost and Reserve [Line Items]    
Total 1,147 2,299
Sales and marketing    
Restructuring Cost and Reserve [Line Items]    
Total 0 1,025
General and administrative    
Restructuring Cost and Reserve [Line Items]    
Total $ 0 $ 280