Leases - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 1,605	$ 1,926	$ 4,941	$ 5,816
Weighted-average remaining lease term, operating leases	5 years 10 months 24 days		5 years 10 months 24 days		6 years 2 months 12 days
Weighted-average remaining lease term, financing leases	3 years 6 months		3 years 6 months		3 years 9 months 18 days
Weighted-average discount rate for operating leases	7.10%		7.10%		7.10%
Weighted-average discount rate for financing leases	6.70%		6.70%		6.70%
Cost of Sales
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 1,400	1,400	$ 4,400	4,900
Research, Development and Engineering Expense
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	100	400	300	500
Selling, General and Administrative Expenses
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	100	100	100	200
Interest Expense
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 100	$ 100	$ 100	$ 100