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, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 0	$ 721	$ 3,163	$ 6,035
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	0	238	2,696	382
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	0	7	311	492
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 0	$ 476	$ 156	$ 5,161