Restructuring (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]
Severance costs	$ 0.9	$ 1.2
Research and development
Restructuring Cost and Reserve [Line Items]
Severance costs	0.4	0.7
Sales and marketing
Restructuring Cost and Reserve [Line Items]
Severance costs	0.4	0.3
General and administrative
Restructuring Cost and Reserve [Line Items]
Severance costs	$ 0.1	$ 0.2