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Restructuring - Schedule of Restructuring Activity (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2023
Restructuring and Related Activities [Abstract]    
Restructuring charge $ 6,000 $ 5,969
Amounts paid during the period:    
Severance   (2,098)
Benefits   (319)
Outplacement services   (178)
Restructuring Reserve, Ending Balance $ 3,374 $ 3,374