Restructuring - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 2.5	$ 4.2
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring costs	2.5	1.4
Selling, general and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 2.5	2.5
Cost of Revenue
Restructuring Cost and Reserve [Line Items]
Restructuring costs		$ 0.3