Commitments and Contingencies - Changes in the Liability for Product Warranty Claim Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Changes in the liability for product warranty claim costs
Balance at beginning of period	$ 522	$ 1,095	$ 1,721
Accruals for warranties issued during the period	0	249	2,943
Settlements (in cash or in kind) during the period	0	(819)	(3,522)
Foreign currency translation gain (loss)	0	(3)	(47)
Balance at end of period	$ 522	$ 522	$ 1,095