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Subsequent Events - Additional Information (Details) - USD ($)
$ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Feb. 29, 2024
Jan. 31, 2024
Mar. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Subsequent Event [Line Items]          
Lease obligations remaining       $ 9.7 $ 6.6
2024 SOW under the DMS Agreement | Forecast          
Subsequent Event [Line Items]          
Lease obligations remaining     $ 2.9    
Subsequent Event          
Subsequent Event [Line Items]          
Percentage of workforce reduction   95.00%      
Personnel-related restructuring charges   $ 10.0      
Subsequent Event | 2024 SOW under the DMS Agreement          
Subsequent Event [Line Items]          
Decrease in lease payments $ 5.7        
Subsequent Event | Restricted Stock Units          
Subsequent Event [Line Items]          
Awards vesting period   4 years