Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 1,794	$ 2,000	$ 5,321	$ 2,020
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	444		600	389
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	272		1,866	105
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 1,078		$ 2,855	$ 1,526