Discontinued Operations, Assets Held for Sale and Restructuring - Schedule of Revenues and Expenses Associated with Discontinued Operations (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Loss from discontinued operations before income taxes	$ (69,530)	$ (68,382)
Income tax expense	212	67
Loss from discontinued operations	(69,742)	(68,449)
Discontinued Operations, Held-for-Sale or Disposed of by Sale
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]
Revenue	10,937	13,332
Cost of product sold	(19,002)	(26,969)
Research and development	(18,335)	(25,035)
Selling, general and administrative	(18,852)	(27,339)
Impairment of inventory	(384)	0
Impairment of prepaid assets and other current assets	(580)	0
Impairment of property and equipment	(621)	0
Restructuring	(6,324)	(2,371)
Impairment from held for sale classification	(16,369)	0
Loss from discontinued operations before income taxes	(69,530)	(68,382)
Income tax expense	212	67
Loss from discontinued operations	$ (69,742)	$ (68,449)