Restructuring - Summary of Restructuring Activity (Details) - USD ($) $ in Thousands	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	$ 46	$ 1,270	$ 4,083	$ 2,173
Severance and Related Benefits
Restructuring Cost and Reserve [Line Items]
Accrued restructuring liability as of December 31, 2022			201
Restructuring			4,083
Cash payments			(3,718)
Accrued restructuring liability as of September 30, 2023	$ 566		$ 566