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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