Property, Plant, and Equipment, Net - Summary of Property, Plant, and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 205,232	$ 223,377
Accumulated depreciation	(163,301)	(170,474)
Property, plant and equipment, net, excluding construction in progress	41,931	52,903
Construction in progress	2,688	9,888
Total property, plant, and equipment, net	44,619	62,791
Buildings
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	17,806	18,291
Computer equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	9,679	9,344
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	3,598	3,529
Leasehold and building improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	33,049	39,761
Construction in progress	623	475
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	82,302	96,947
Construction in progress	738	2,282
Software
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	28,074	23,607
Construction in progress	11	4,862
Tooling
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	30,724	31,898
Construction in progress	$ 1,197	$ 1,827