Restructuring Expenses - Summary of Restructuring Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 9,961	$ 0	$ 4,346
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	2,564	0	186
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	3,716	0	0
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 3,681	$ 0	$ 4,160