Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
	Jun. 30, 2020	Jun. 30, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 6,356	$ 9,961
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	2,489	2,564
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	2,918	3,716
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 949	$ 3,681