Restructuring Expenses - Summary of Restructuring Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 2,020	$ 9,961	$ 0
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	389	2,564	0
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	105	3,716	0
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 1,526	$ 3,681	$ 0