Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Deferred tax assets
Allowance for doubtful accounts	$ 53	$ 1,506
Inventory	0	370
Equity securities and investments in affiliates	258	570
Property, plant and equipment	284	0
Intangible assets	69,807	80,540
Accrued liabilities	3,219	3,090
Lease liabilities	2,182	2,839
Stock-based compensation	17,106	15,227
Deferred revenue	474	7,300
Capitalized research and development cost	16,318	0
Research and development tax credits	12,160	11,168
Net operating, capital loss, and interest expense carryforwards	288,397	301,791
Total deferred tax assets	410,258	424,401
Less: (Valuation allowance)	401,086	408,396	$ 387,348	$ 349,008
Net deferred tax assets	9,172	16,005
Deferred tax liabilities
Property, plant and equipment	0	250
Right-of-use assets	2,071	2,735
Foreign intangible asset	9,364	10,861
Long-term debt	0	4,698
Total deferred tax liabilities	11,435	18,544
Net deferred tax liabilities included in continuing operations	$ (2,263)	$ (2,539)