Restructuring Charges (Details)		1 Months Ended	3 Months Ended		6 Months Ended		18 Months Ended
	Jun. 26, 2019 employee	Feb. 28, 2018 employee	Jun. 30, 2019 USD ($)	Mar. 31, 2018 USD ($)	Jun. 30, 2019 USD ($) ft²	Jun. 30, 2018 USD ($)	Dec. 31, 2020 USD ($)
Restructuring
Stock compensation expense					$ 2,800,000
Workforce reduction
Restructuring
Effect on earnings, income statement, amount			$ 0		0
Restructuring charge
Balance at beginning of the period					841,000		$ 25,000
Payments during the period					(816,000)
Balance at end of the period			25,000		25,000
Workforce reduction | 2019 Corporate Restructuring
Restructuring
Approximate positions to be eliminated | employee	220
One-time charge for severance			16,000,000.0
Additional restructuring charges expected			$ 400,000		$ 400,000
Workforce reduction | 2018 Manufacturing Restructuring
Restructuring
Approximate positions to be eliminated | employee		22
One-time charge for severance				$ 1,200,000
Benefit plan severance cost						$ 1,100,000
Workforce reduction | 2018 Manufacturing Restructuring | Stock options
Restructuring
Stock compensation expense				$ 157,000
Workforce reduction | 2016 Corporate Restructuring
Restructuring charge
Unoccupied office space for sub-lease | ft²					10,281
Workforce reduction | Forecast | 2019 Corporate Restructuring
Restructuring
Effect on earnings, income statement, amount							$ 3,700,000
Lease | 2016 Corporate Restructuring
Restructuring charge
Leasehold impairment charge					$ 559,000	$ 0
930 Winter Street, Walham, MA | Lease | 2019 Corporate Restructuring
Restructuring charge
Leasehold impairment charge					$ 2,500,000