Restructuring Expenses - Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ (581,000)	$ 1,794,000	$ 5,454,000	$ 5,321,000
Q1 2022 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring expenses		$ 1,800,000		$ 5,300,000
Unpaid balance related to restructuring plan	0		0
Q4 2022/Q1 2023 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring expenses			5,500,000
Restructuring and related cost, cost incurred to date	22,900,000		22,900,000
Unpaid balance related to restructuring plan	$ 1,000,000		$ 1,000,000		$ 18,200,000