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Restructuring Charges (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Jul. 31, 2023
Nov. 30, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]          
Restructuring charges     $ 3,284 $ 3,167 $ 0
One-time Termination Benefits          
Restructuring Cost and Reserve [Line Items]          
Restructuring and related cost, number of positions eliminated, period percent 25.00% 18.00%      
Restructuring charges     200 $ 3,200  
Employee Severance          
Restructuring Cost and Reserve [Line Items]          
Restructuring charges     $ 3,100