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, 2024
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	$ 620	$ 3,783
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	642	3,338
Research and development
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	(15)	296
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Total restructuring expense	$ (7)	$ 149