Restructuring Expenses - Summary of Restructuring Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 22,803	$ 2,020	$ 9,961
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	8,018	389	2,564
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	3,615	105	3,716
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 11,170	$ 1,526	$ 3,681