Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 721	$ 0	$ 6,035	$ 3,527
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	238	0	382	156
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	7	0	492	1,594
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 476	$ 0	$ 5,161	$ 1,777