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Income Taxes - Reconciliation of Effective Tax Rate (Details)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Income Tax Disclosure [Abstract]    
U.S. federal statutory tax rate 21.00% 21.00%
State income taxes, net of federal benefit 0.00% 0.10%
Non-U.S. income taxed at different rates 0.10% 0.20%
Increase (reduction) in tax benefit related to stock-based awards 0.40% (0.10%)
Increase in valuation allowance (20.40%) (20.80%)
Permanent differences (1.10%) (0.40%)
Non-deductible expenses 0.10% 0.00%
Effective income tax rate 0.00% 0.00%