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Reorganization - Additional Information (Details) $ in Millions | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2023 USD ($) | Jun. 30, 2022 USD ($) | Dec. 31, 2023 USD ($) Officers | Dec. 31, 2022 USD ($)
Restructuring charges, total |  | $ 5.4 |  |
Number of executive officers terminated | Officers |  |  | 5 |
Anticipated restructuring expense |  |  | $ 13.4 |
2023 Restructuring Plan |  |  |  |
Payments for restructuring charges |  |  | 4.2 |
2023 Restructuring Plan | Research and Development Expense |  |  |  |
Restructuring charges, total |  |  | 1.7 |
2023 Restructuring Plan | General and Administrative Expense |  |  |  |
Restructuring charges, total |  |  | 0.1 |
2023 Restructuring Plan | Sales and Marketing Expense |  |  |  |
Restructuring charges, total |  |  | 2.4 |
2022 Restructuring Plan |  |  |  |
Payments for restructuring charges |  |  |  | $ 5.4
2022 Restructuring Plan | Research and Development Expense |  |  |  |
Restructuring charges, total |  |  |  | 4.2
2022 Restructuring Plan | General and Administrative Expense |  |  |  |
Restructuring charges, total |  |  |  | 0.2
2022 Restructuring Plan | Sales and Marketing Expense |  |  |  |
Restructuring charges, total |  |  |  | $ 1.0
Executive Officer Departures |  |  |  |
Restructuring charges, total |  |  | 13.4 |
Executive Officer Departures | Research and Development Expense |  |  |  |
Restructuring charges, total |  |  | 2.3 |
Executive Officer Departures | General and Administrative Expense |  |  |  |
Restructuring charges, total |  |  | 7.2 |
Executive Officer Departures | Sales and Marketing Expense |  |  |  |
Restructuring charges, total |  |  | 3.9 |
Employee Severance |  |  |  |
Restructuring charges, total |  | 5.0 |  |
Anticipated restructuring expense |  |  | 4.7 |
Employee Severance | 2023 Restructuring Plan |  |  |  |
Restructuring charges, total | $ 4.2 |  |  |
Payments for restructuring charges |  |  | 3.7 |
Accelerated Non-Cash Stock Option Expense |  |  |  |
Restructuring charges, total |  | $ 0.4 |  |
Non-Cash, Stock-based Compensation Expense |  |  |  |
Anticipated restructuring expense |  |  | $ 8.7 |

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