Leases - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 1,926	$ 2,017	$ 5,816	$ 5,956
Weighted-average remaining lease term, operating leases	6 years 3 months 18 days		6 years 3 months 18 days		6 years 8 months 12 days
Weighted-average remaining lease term, financing leases	4 years		4 years		4 years 6 months
Weighted-average discount rate for operating leases	7.20%		7.20%		7.20%
Weighted-average discount rate for financing leases	6.70%		6.70%		6.80%
Cost of Sales
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 1,400	1,600	$ 4,900	5,200
Research, Development And Engineering Expense
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	400	300	500	500
Selling, General and Administrative Expenses
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	100	100	200	200
Interest Expense
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Lease expense	$ 100	$ 100	$ 100	$ 100