Restructuring and Other Charges - Additional information (Details) - USD ($) $ in Thousands	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]
Additions for costs expensed			$ 0
Restructuring liability	$ 902		902		$ 3,802
2021 Global Strategic Plan
Restructuring Cost and Reserve [Line Items]
Additions for costs expensed	2,300	$ 4,100	3,400	$ 9,900
Inventory Write-down		$ 5,100		5,100
Restructuring costs				$ 4,800
Restructuring liability	$ 2,300		$ 2,300