Restructuring, Impairment and Costs of Terminated Program, and Impairment of Goodwill - Sublease Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]
Impairment expense for facilities	$ 11,500
Impairment of other property, plant and equipment	1,700
Impairment of right-of-use assets and property, plant and equipment	13,200	$ 0
Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	33,548
Property, Plant and Equipment
Restructuring Cost and Reserve [Line Items]
Impairment expense for facilities	1,800
Impairment of other property, plant and equipment	1,700
Impairment of right-of-use assets and property, plant and equipment	3,500
Property, Plant and Equipment | Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	5,114
Operating Lease Right-of-Use Assets
Restructuring Cost and Reserve [Line Items]
Impairment expense for facilities	9,700
Impairment of right-of-use assets and property, plant and equipment	9,700
Operating Lease Right-of-Use Assets | Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	28,434
Fair Value, Level 3 | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	22,048
Fair Value, Level 3 | Property, Plant and Equipment | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	3,314
Fair Value, Level 3 | Operating Lease Right-of-Use Assets | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and Operating lease right-of-use assets	$ 18,734