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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