Reorganization - Additional Information (Details) $ in Millions	1 Months Ended		12 Months Ended
	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Dec. 31, 2023 USD ($) Officers	Dec. 31, 2022 USD ($)
Restructuring charges, total		$ 5.4
Number of executive officers terminated | Officers			5
Anticipated restructuring expense			$ 13.4
2023 Restructuring Plan
Payments for restructuring charges			4.2
2023 Restructuring Plan | Research and Development Expense
Restructuring charges, total			1.7
2023 Restructuring Plan | General and Administrative Expense
Restructuring charges, total			0.1
2023 Restructuring Plan | Sales and Marketing Expense
Restructuring charges, total			2.4
2022 Restructuring Plan
Payments for restructuring charges				$ 5.4
2022 Restructuring Plan | Research and Development Expense
Restructuring charges, total				4.2
2022 Restructuring Plan | General and Administrative Expense
Restructuring charges, total				0.2
2022 Restructuring Plan | Sales and Marketing Expense
Restructuring charges, total				$ 1.0
Executive Officer Departures
Restructuring charges, total			13.4
Executive Officer Departures | Research and Development Expense
Restructuring charges, total			2.3
Executive Officer Departures | General and Administrative Expense
Restructuring charges, total			7.2
Executive Officer Departures | Sales and Marketing Expense
Restructuring charges, total			3.9
Employee Severance
Restructuring charges, total		5.0
Anticipated restructuring expense			4.7
Employee Severance | 2023 Restructuring Plan
Restructuring charges, total	$ 4.2
Payments for restructuring charges			3.7
Accelerated Non-Cash Stock Option Expense
Restructuring charges, total		$ 0.4
Non-Cash, Stock-based Compensation Expense
Anticipated restructuring expense			$ 8.7