Restructuring and Long-Lived Asset Impairment - 2019 Strategic Shift Costs (Details) - 2019 Strategic Shift - USD ($) $ in Thousands	3 Months Ended			6 Months Ended	9 Months Ended		30 Months Ended
	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022	Dec. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2021
Restructuring Costs
Charged to expense	$ 926		$ 1,671		$ 3,073	$ 6,670
Gain from derecognition of the operating lease assets and liabilities relating to the terminated leases				$ 3,900		900	$ 7,600
One-time termination benefits
Restructuring Costs
Charged to expense							1,239
Paid or otherwise settled							(1,239)
Lease termination costs
Restructuring Costs
Charged to expense		$ 4,074				2,023	13,532
Paid or otherwise settled		(4,074)				(2,023)	(13,532)
Other associated costs
Restructuring Costs
Beginning balance		835			869	926
Charged to expense	926	1,478	1,671		3,073	5,548	31,840
Paid or otherwise settled		(1,444)			(2,858)	(5,639)	(30,914)
Ending balance	1,084	869	835	869	1,084	835	926
Restructuring costs excluding incremental inventory reserve charges
Restructuring Costs
Beginning balance		835			869	926
Charged to expense		5,552			3,073	7,571	46,611
Paid or otherwise settled		(5,518)			(2,858)	(7,662)	(45,685)
Ending balance	$ 1,084	$ 869	835	$ 869	$ 1,084	835	$ 926
Lease termination charges | Lease termination costs
Restructuring Costs
Charged to expense			$ 0			$ 1,122