Intangible Assets and Goodwill - Intangible Assets & Finite-lived Intangible Assets Amortization Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Finite-Lived Intangible Assets [Line Items]
Gross carrying amount	$ 10,159		$ 10,159		$ 16,504
Accumulated amortization	(9,029)		(9,029)		(14,852)
Net value	1,130		1,130		1,652
Amortization expense	149	$ 609	522	$ 1,263
Patents
Finite-Lived Intangible Assets [Line Items]
Gross carrying amount	0		0		6,345
Development programs
Finite-Lived Intangible Assets [Line Items]
Gross carrying amount	$ 7,200		$ 7,200		7,200
Developed technology
Finite-Lived Intangible Assets [Line Items]
Estimated useful life (in years)	5 years		5 years
Gross carrying amount	$ 2,959		$ 2,959		$ 2,959
Minimum | Patents
Finite-Lived Intangible Assets [Line Items]
Estimated useful life (in years)	3 years		3 years
Minimum | Development programs
Finite-Lived Intangible Assets [Line Items]
Estimated useful life (in years)	2 years		2 years
Maximum | Patents
Finite-Lived Intangible Assets [Line Items]
Estimated useful life (in years)	5 years		5 years
Maximum | Development programs
Finite-Lived Intangible Assets [Line Items]
Estimated useful life (in years)	4 years		4 years