Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 5,314	$ 3,527
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	144	156
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	485	1,594
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 4,685	$ 1,777