Reorganizations - Additional Information (Details) $ in Millions	1 Months Ended		3 Months Ended	6 Months Ended
	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($)	Jun. 30, 2023 USD ($) Officers	Sep. 30, 2023 USD ($)
Restructuring charges, total		$ 5.4
Anticipated restructuring expense	$ 13.4		$ 13.4	$ 13.4
Number of executive officers terminated | Officers				5
Forecast
Anticipated restructuring expense					$ 2.2
2023 Restructuring Plan
Payments for restructuring charges			1.8	$ 1.8
Executive Officer Departures
Restructuring charges, total			11.2	11.2
Research and Development Expense | 2023 Restructuring Plan
Restructuring charges, total			0.6	0.6
Research and Development Expense | Executive Officer Departures
Restructuring charges, total			2.3	2.3
Sales and Marketing Expense | 2023 Restructuring Plan
Restructuring charges, total			1.1	1.1
Sales and Marketing Expense | Executive Officer Departures
Restructuring charges, total			3.9	3.9
General and Administrative Expense | 2023 Restructuring Plan
Restructuring charges, total			0.1	0.1
General and Administrative Expense | Executive Officer Departures
Restructuring charges, total			5.0	5.0
Employee Severance
Restructuring charges, total		5.0
Anticipated restructuring expense	4.7		4.7	4.7
Employee Severance | 2021 Restructuring Plan
Payments for restructuring charges				5.0
Employee Severance | 2023 Restructuring Plan
Restructuring charges, total	2.8
Employee Severance | Executive Officer Departures
Payments for restructuring charges				3.6
Accelerated Non-Cash Stock Option Expense
Restructuring charges, total		$ 0.4
Non-Cash, Stock-based Compensation Expense
Anticipated restructuring expense	$ 8.7		$ 8.7	$ 8.7