Income Taxes - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Line Items]
Effective income tax rate reconciliation, percent	1.40%	11.70%	9.40%	23.20%
Unrecognized tax benefits	$ 26,156		$ 26,156		$ 145	$ 450
Unrecognized tax benefits and related accrued interest	26,800		26,800		200
Unrecognized tax benefits that would impact effective tax rate	4,700		4,700		$ 100
Increase deferred tax asset	9,900		9,900
Increase in unrecognized tax benefits	$ 9,900		$ 9,900
Canadian Entities
Income Taxes [Line Items]
Decrease in effective income tax rate			6.70%
UK Subsidiaries
Income Taxes [Line Items]
Decrease in effective income tax rate	20.20%		7.30%
Domestic Tax Authority
Income Taxes [Line Items]
Research and development costs amortization period			5 years
Foreign Tax Authority
Income Taxes [Line Items]
Research and development costs amortization period			15 years
Internal Revenue Service (IRS) | Latest Tax Year
Income Taxes [Line Items]
Open tax year			2021
Internal Revenue Service (IRS) | Earliest Tax Year
Income Taxes [Line Items]
Open tax year			2019
State Local and Foreign Jurisdictions | Latest Tax Year
Income Taxes [Line Items]
Open tax year			2021
State Local and Foreign Jurisdictions | Earliest Tax Year
Income Taxes [Line Items]
Open tax year			2018