Revenue - Revenue Disaggregated (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Disaggregation of Revenue [Line Items]
Revenue from contract with customer	$ 78,802	$ 97,413	$ 250,799	$ 301,170
Delivery Systems
Disaggregation of Revenue [Line Items]
Revenue from contract with customer	27,613	51,043	98,605	161,986
Consumables
Disaggregation of Revenue [Line Items]
Revenue from contract with customer	$ 51,189	$ 46,370	$ 152,194	$ 139,184

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details