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