Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 3,163	$ 5,314
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	2,696	144
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	311	485
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 156	$ 4,685