Restructuring Expenses - Summary of Restructuring Expenses (Details) - USD ($) $ in Thousands	3 Months Ended	12 Months Ended
	Mar. 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 2,000	$ 15,539	$ 22,803	$ 2,020
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring charges		3,089	8,018	389
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring charges		3,829	3,615	105
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring charges		$ 8,621	$ 11,170	$ 1,526