Restructuring Activities - Costs of Various Programs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	$ 18,654	$ 16,470	$ 18,367
Cost of sales
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	1,667	10,060	8,493
Selling, general and administrative expenses
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	15,362	6,410	9,874
Research and development expenses
Restructuring Cost and Reserve [Line Items]
Severance, restructuring, and acquisition integration costs	$ 1,625	$ 0	$ 0