Leases - Narrative (Details) ft² in Thousands, $ in Millions		1 Months Ended	12 Months Ended
	Jan. 28, 2022 USD ($) ft² $ / ft² renewal_option	Jan. 31, 2022 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Lessee, Lease, Description [Line Items]
Short-term lease costs (less than)			$ 0.1	$ 0.1
Operating lease expense			6.9	7.3	$ 6.3
Finance lease expense (less than)			0.1	0.1	0.1
Measurement of lease liability			$ 5.3	$ 6.0	$ 5.8
25 Network Drive, Burlington, Massachusetts
Lessee, Lease, Description [Line Items]
Area of real estate property | ft²	126
Lease comment, grace period	12 months
Rent start date, term	13 months
Term of contract	144 months
Number of renewal options | renewal_option	1
Lease option to extend term	10 years
Annual lease per square foot | $ / ft²	57
Annual lease base rent square subject to increase percentage	2.50%
Tenant improvement allowance	$ 25.1
Tenant improvement allowance per square foot | $ / ft²	200
Letter of credit cash deposit		$ 6.0
Letter of credit cash deposit lease year three		4.2
Letter of credit cash deposit lease year six		$ 1.8
25 Network Drive, Burlington, Massachusetts | Minimum
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments	$ 0.6
25 Network Drive, Burlington, Massachusetts | Maximum
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments	$ 0.8