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

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