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Basis of Presentation and Summary of Significant Accounting Policies - Condensed Consolidated Balance Sheet Restatement (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Jun. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Dec. 31, 2021
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Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |
Deferred revenues, net of current portion | $ 11,133 |  | $ 21,406 |  |  |
Deferred tax liabilities, net | 13,517 |  | 25,293 |  |  |
Total liabilities | 312,188 |  | 397,419 |  |  |
Accumulated deficit | (610,056) |  | (433,396) |  |  |
Total stockholders' equity | 47,791 | $ 54,838 | $ 155,252 | $ 150,641 | $ 419,888 | $ 422,491
As Previously Reported |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |
Deferred revenues, net of current portion | 22,580 |  |  |  |  |
Deferred tax liabilities, net | 12,047 |  |  |  |  |
Total liabilities | 322,165 |  |  |  |  |
Accumulated deficit | (620,033) |  |  |  |  |
Total stockholders' equity | 37,814 | 52,770 |  |  |  |
Adjustments |  |  |  |  |  |
Error Corrections and Prior Period Adjustments Restatement [Line Items] |  |  |  |  |  |
Deferred revenues, net of current portion | (11,447) |  |  |  |  |
Deferred tax liabilities, net | 1,470 |  |  |  |  |
Total liabilities | (9,977) |  |  |  |  |
Accumulated deficit | 9,977 |  |  |  |  |
Total stockholders' equity | $ 9,977 | $ 2,068 |  |  |  |

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