Restructuring - Schedule of Impairment Charges (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Severance and employee benefit costs	$ 4,503
Impairment of assets	10,081	$ 0	$ 0
Total Restructuring charge	14,584
Cost of sales
Restructuring Cost and Reserve [Line Items]
Total Restructuring charge	500
Research and development
Restructuring Cost and Reserve [Line Items]
Total Restructuring charge	2,300
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Total Restructuring charge	$ 11,500