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Commitments and Contingencies - Narrative (Details)
3 Months Ended 9 Months Ended
Oct. 01, 2023
USD ($)
Jun. 30, 2017
USD ($)
Sep. 30, 2023
USD ($)
ft²
option
Sep. 30, 2023
USD ($)
ft²
option
Dec. 31, 2022
USD ($)
Jan. 31, 2021
ft²
option
Schedule of Commitments and Contingencies [Line Items]            
Area of real estate property (in square feet) | ft²     77,300 77,300    
Number of options to extend | option     1 1    
Lease obligations     $ 19,979,000 $ 19,979,000 $ 43,638,000  
Remeasurement due to lease modification       19,622,000    
Asset impairment charges     1,500,000      
Impairment       2,997,000    
Asset retirement obligation     300,000 300,000 500,000  
Indemnification Agreement            
Schedule of Commitments and Contingencies [Line Items]            
Loss contingency accrual     0 0    
Term Loan            
Schedule of Commitments and Contingencies [Line Items]            
Borrowing capacity   $ 10,000,000        
Revolving Credit Facility            
Schedule of Commitments and Contingencies [Line Items]            
Borrowing capacity   $ 5,000,000        
Accounts receivable, borrowing base percentage   80.00%        
Demand Deposits            
Schedule of Commitments and Contingencies [Line Items]            
Non-current restricted cash     $ 1,100,000 $ 1,100,000 $ 1,100,000  
200-220 Penobscot            
Schedule of Commitments and Contingencies [Line Items]            
Area of real estate property (in square feet) | ft²     28,200 28,200    
400 Penobscot            
Schedule of Commitments and Contingencies [Line Items]            
Area of real estate property (in square feet) | ft²     37,900 37,900    
Renewal term     5 years 5 years    
501 Chesapeake            
Schedule of Commitments and Contingencies [Line Items]            
Area of real estate property (in square feet) | ft²     11,200 11,200    
Number of options to extend | option     1 1    
Renewal term     5 years 5 years    
San Carlos            
Schedule of Commitments and Contingencies [Line Items]            
Area of real estate property (in square feet) | ft²           36,593
Number of options to extend | option           1
Lease term           10 years
Renewal term           5 years
Asset impairment charges     $ 7,700,000 $ 7,700,000    
Impairment of leasehold     4,700,000 4,700,000    
Impairment     $ 3,000,000 $ 3,000,000    
San Carlos | Subsequent Event            
Schedule of Commitments and Contingencies [Line Items]            
Security deposit $ 500,000          
Lease obligations 3,100,000          
Remeasurement due to lease modification $ 19,600,000