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Restructuring - Restructuring Accrual and Changes (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restructuring accrual and changes        
Charges $ 48 $ 21 $ 267 $ 363
Employee Termination Costs        
Restructuring accrual and changes        
Balance at December 31, 2023     2,388  
Charges     267  
Payments     (1,550)  
Other adjustments     (10)  
Balance at June 30, 2024 $ 1,095   $ 1,095