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Restructuring Activities - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]      
Gain on curtailment     $ 2,300
Asset impairment $ 0 $ 2,427 13,228
Lease asset impairment   2,400  
Operating lease, property, plant and equipment, impairment loss   400  
Operating lease, ROU asset, impairment loss   2,000  
Restructuring activities 0 3,280 27,877
Outside services and other associated costs 0 548 1,671
Restructuring Reserve $ 132 $ 4,495 18,281
Patents      
Restructuring Cost and Reserve [Line Items]      
Asset impairment     $ 13,200