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Restructuring - Summary of Restructuring-related charges (Details)
$ in Thousands
9 Months Ended
Sep. 30, 2023
USD ($)
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges $ 4,329
Research and Development  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 2,627
General and Administrative  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 1,702
Severance and other benefit-related costs  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 3,840
Severance and other benefit-related costs | Research and Development  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 2,138
Severance and other benefit-related costs | General and Administrative  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 1,702
Accelerated depreciation charges [Member]  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 360
Accelerated depreciation charges [Member] | Research and Development  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 360
Accelerated hearing program charges  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges 129
Accelerated hearing program charges | Research and Development  
Restructuring Cost and Reserve [Line Items]  
Restructuring Charges $ 129