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, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	$ 620	$ (581)	$ 3,783	$ 5,454
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	642	(280)	3,338	102
Research and development
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	(15)	(25)	296	467
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	$ (7)	$ (276)	$ 149	$ 4,885