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Restructuring Charges (Details) - Employee Severance $ in Millions |  | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Mar. 10, 2023 employee | Mar. 31, 2023 USD ($) | Dec. 31, 2023 USD ($)
Restructuring Cost And Reserve [Line Items] |  |  |
Employees impacted | employee | 50 |  |
Restructuring Charges |  | $ 3.9 |
Stock-based compensation includes restructuring charges |  | 1.5 |
Forfeiture credit |  | $ 0.5 |
Research and Development Expense |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |
Restructuring Charges |  |  | $ 3.6
Stock-based compensation includes restructuring charges |  |  | 1.1
Selling, general and administrative expenses |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |
Restructuring Charges |  |  | 1.3
Forfeiture credit |  |  | $ 0.1

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