Condensed Consolidated Financial Statement Details - Schedule of Property, Plant and Equipment (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	$ 102,891	$ 105,015
Less: accumulated depreciation	(88,428)	(86,898)
Depreciable property, plant and equipment, net	14,463	18,117
Construction in process	724	739
Property, plant and equipment, net	15,187	18,856
Building and leasehold improvements
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	41,867	43,184
Computer equipment and computer software
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	22,118	22,438
Manufacturing equipment
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	23,980	24,315
Laboratory equipment
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	14,385	14,537
Furniture, fixtures and other
Property, Plant and Equipment [Line Items]
Depreciable property, plant and equipment at cost	$ 541	$ 541