Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 3,500	$ 2,000	$ 3,527	$ 2,020
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses			156	389
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses			1,594	105
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses			$ 1,777	$ 1,526