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, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Restructuring Cost and Reserve [Line Items]
Restructuring expense, net of reversals	$ (581)	$ 1,794	$ 5,454	$ 5,321
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expense, net of reversals	(280)	444	102	600
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expense, net of reversals	(25)	272	467	1,866
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expense, net of reversals	$ (276)	$ 1,078	$ 4,885	$ 2,855