Restructuring and Other Charges - Additional Information (Details)	3 Months Ended	9 Months Ended
Sep. 30, 2021 USD ($)	Sep. 30, 2021 USD ($)
Restructuring Cost And Reserve [Line Items]
Restructuring and other charges		$ 12,100,000
Termination cost		8,500,000
Impairment of long-lived assets charge of right-of-use assets		4,200,000
Professional fees		800,000
Other charges		100,000
Accrued liabilities	$ 7,400,000	7,400,000
Statutory Benefits
Restructuring Cost And Reserve [Line Items]
Termination cost		2,000.0
One-time Severance Obligations
Restructuring Cost And Reserve [Line Items]
Termination cost		6,500
Transition to Sales and Research and Development Center
Restructuring Cost And Reserve [Line Items]
Termination cost	6,600	11,800
Relocate Manufacturing Function
Restructuring Cost And Reserve [Line Items]
Termination cost	$ 0	300,000
Restructuring Charges
Restructuring Cost And Reserve [Line Items]
Impairment of long-lived assets charge of right-of-use assets		$ 2,700,000

Amount of loss from impairment of right-of-use asset from operating lease.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 25
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-Subparagraph (c)
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Amount of other expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses associated with a discontinued operation or an asset retirement obligation.

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A fee charged for services from professionals such as doctors, lawyers and accountants. The term is often expanded to include other professions, for example, pharmacists charging to maintain a medicinal profile of a client or customer.

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Amount, after cash payment, of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation.

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Carrying amount (including both current and noncurrent portions of the accrual) as of the balance sheet date pertaining to a specified type of cost associated with exit from or disposal of business activities or restructuring pursuant to a duly authorized plan.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
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Amount of expenses for special or contractual termination benefits provided to current employees involuntarily terminated under a benefit arrangement associated exit or disposal activities pursuant to an authorized plan. Excludes expenses related to one-time termination benefits, a discontinued operation or an asset retirement obligation.

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