Restructuring, Impairment and Other Costs - Additional Information (Details) $ in Millions	1 Months Ended	12 Months Ended
Dec. 31, 2023 USD ($) position	Dec. 31, 2023 USD ($)
Restructuring Cost and Reserve [Line Items]
Number of positions eliminated \| position	75
Percentage of positions eliminated	12.00%
Severance costs		$ 5.9
Restructuring reserve	$ 4.5	4.5
Asset impairment charges		7.7
Minimum
Restructuring Cost and Reserve [Line Items]
Additional charges related to restructuring	25.0	25.0
Maximum
Restructuring Cost and Reserve [Line Items]
Additional charges related to restructuring	$ 35.0	35.0
Research and development
Restructuring Cost and Reserve [Line Items]
Severance costs		4.0
Asset impairment charges		5.6
Selling, general and administrative
Restructuring Cost and Reserve [Line Items]
Severance costs		1.9
Asset impairment charges		$ 2.1

Amount of write-down of assets recognized in the income statement. Includes, but is not limited to, losses from tangible assets, intangible assets and goodwill.

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Amount of expected cost remaining for the specified restructuring cost.

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The number of positions eliminated during the period as a result of restructuring activities.

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The number of positions eliminated during the period as a percentage of total positions eliminated during the period in connection with the restructuring plan(s).

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan.

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Amount of expenses for special or contractual termination benefits provided to current employees involuntarily terminated under a benefit arrangement associated exit or disposal activities pursuant to an authorized plan. Excludes expenses related to one-time termination benefits, a discontinued operation or an asset retirement obligation.

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