Restructuring Charges - Schedule of Restructuring and Related Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 1,657	$ 0	$ 15,924
One-time Termination Benefits [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	1,584		10,159
Contract Termination [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 73		5,207
Other Restructuring [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring charges			$ 558