Restructuring, Impairment and Costs of Terminated Program - Schedule of Property, Plant and Equipment (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Proceeds from sales	$ 1,245	$ 13,196	$ 0
Property, plant and equipment, net	18,856	32,451
Facility Closing
Restructuring Cost and Reserve [Line Items]
Proceeds from sales	1,245	13,196
Property, plant and equipment, net	2,545	9,870
Total (gain) loss on sale or disposal of property, plan and equipment, net	$ 1,300	$ (3,326)