Restructuring Costs - Schedule of Restructuring Liabilities (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Restructuring Reserve [Roll Forward]
Balance at beginning of period			$ 772,000
Restructuring costs	$ 3,373,000	$ 0	3,602,000	$ 0
Payments			(3,671,000)
Balance at end of period	$ 703,000		$ 703,000