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Reorganizations - Additional Information (Details)
$ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Sep. 30, 2023
USD ($)
Sep. 30, 2023
USD ($)
Officers
Dec. 31, 2023
USD ($)
Restructuring charges, total   $ 5.4      
Anticipated restructuring expense     $ 13.4 $ 13.4  
Number of executive officers terminated | Officers       5  
2023 Restructuring Plan          
Payments for restructuring charges     1.9 $ 3.7  
2023 Restructuring Plan | Forecast          
Anticipated restructuring expense         $ 0.2
Executive Officer Departures          
Restructuring charges, total       13.4  
Research and Development Expense | 2023 Restructuring Plan          
Restructuring charges, total     0.9 1.5  
Research and Development Expense | Executive Officer Departures          
Restructuring charges, total       2.3  
Sales and Marketing Expense | 2023 Restructuring Plan          
Restructuring charges, total     1.0 2.1  
Sales and Marketing Expense | Executive Officer Departures          
Restructuring charges, total       3.9  
General and Administrative Expense | 2023 Restructuring Plan          
Restructuring charges, total       0.1  
General and Administrative Expense | Executive Officer Departures          
Restructuring charges, total     2.2 7.2  
Employee Severance          
Restructuring charges, total   5.0      
Anticipated restructuring expense     4.7 4.7  
Employee Severance | 2023 Restructuring Plan          
Restructuring charges, total $ 3.9        
Payments for restructuring charges       1.7  
Employee Severance | Executive Officer Departures          
Payments for restructuring charges       4.6  
Accelerated Non-Cash Stock Option Expense          
Restructuring charges, total   $ 0.4      
Non-Cash, Stock-based Compensation Expense          
Anticipated restructuring expense     $ 8.7 $ 8.7