Restructuring Costs - Schedule of Restructuring Liabilities (Details) - USD ($)	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Restructuring Reserve [Roll Forward]
Balance at beginning of period			$ 772,000	$ 0	$ 0
Restructuring costs	$ 22,000	$ 0	3,624,000	$ 0	2,628,000
Payments			(4,079,000)		(1,856,000)
Balance at end of period	$ 317,000		$ 317,000		$ 772,000