Restructuring - Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 2,125,000	$ 0	$ 9,883,000	$ 0
Restructuring cost	5,900,000		5,900,000
Severance and Other Employee Costs
Restructuring Cost and Reserve [Line Items]
Restructuring cost	700,000		700,000
Facility Footprint Optimization
Restructuring Cost and Reserve [Line Items]
Restructuring cost	4,500,000		4,500,000
Consulting costs
Restructuring Cost and Reserve [Line Items]
Restructuring cost	$ 700,000		$ 700,000