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