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Commitments and Contingencies - Schedule of Restructuring (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Restructuring Reserve [Roll Forward]        
Beginning Balance     $ 0  
Restructuring charges $ 3,690 $ 0 3,690 $ 0
Cash payments     (1,827)  
Other adjustments     0  
Ending Balance 1,863   1,863  
Total costs incurred inception to date 3,690   3,690  
Total expected expense to be incurred as of September 30, 2023 0   0  
Severance Expense        
Restructuring Reserve [Roll Forward]        
Beginning Balance     0  
Restructuring charges 3,400   3,415  
Cash payments     (1,691)  
Other adjustments     0  
Ending Balance 1,724   1,724  
Total costs incurred inception to date 3,415   3,415  
Total expected expense to be incurred as of September 30, 2023 0   0  
Other Exit Expense        
Restructuring Reserve [Roll Forward]        
Beginning Balance     0  
Restructuring charges     275  
Cash payments     (136)  
Other adjustments     0  
Ending Balance 139   139  
Total costs incurred inception to date 275   275  
Total expected expense to be incurred as of September 30, 2023 $ 0   $ 0