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Restructuring - Additional Information (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2023 | Dec. 31, 2022
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |
Restructuring, incurred cost, statement of income or comprehensive income, extensible enumeration, not disclosed, flag | restructuring costs |  | restructuring costs |  |  |
Cost Reduction And Cost Structure Reduction Plans |  |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |
Payment for restructuring costs | $ 1,300 | $ 500 | $ 5,400 | $ 500 |  |
Restructuring liability | $ 600 |  | $ 600 |  |  | $ 200
Cost Structure Reduction Plan | Minimum | Forecast |  |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |
Expected restructuring costs |  |  |  |  | $ 400 |
Cost Structure Reduction Plan | Maximum | Forecast |  |  |  |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |  |  |  |
Expected restructuring costs |  |  |  |  | $ 800 |

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- Definition Amount expected to be recognized in earnings for the specified restructuring cost. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (b)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482017/420-10-50-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(b)(1)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SAB Topic 5.P.4(d)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479823/420-10-S99-2 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 420 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482017/420-10-50-1 + Details
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