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Restructuring (Details) - USD ($)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]    
Restructuring and related cost, incurred cost   $ 1,990,000
Restructuring reserve $ 0  
Severance and other benefits    
Restructuring Cost and Reserve [Line Items]    
Restructuring and related cost, incurred cost $ 355,000 1,185,000
Legal and other costs    
Restructuring Cost and Reserve [Line Items]    
Restructuring and related cost, incurred cost   $ 805,000