Restructuring Activities - Restructuring Reserve (Details) - USD ($) $ in Thousands	3 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Dec. 31, 2023
Restructuring Reserve [Roll Forward]
Restructuring reserve, beginning balance	$ 45	$ 242
Cash payments	(45)	(197)
Restructuring reserve, ending balance	0	45
Restructuring reserve	$ 0	$ 45	$ 0