Income Taxes - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Tax Credit Carryforward
Deferred tax assets, operating loss and tax credit carryforwards	$ 8,000
Valuation allowance	40,878	$ 33,596
Unrecognized tax benefits affecting effective tax rate	27,100	38,400
Interest and penalties associated with unrecognized tax benefits (Operations)	5,600	2,600	$ 2,100
Interest and penalties associated with unrecognized tax benefits (Balance Sheet)	17,400	22,900
State and Local Jurisdiction
Tax Credit Carryforward
Deferred tax assets, operating loss and tax credit carryforwards	53,400
Net operating loss carryforwards	268,303	$ 310,819
Valuation allowance	25,300
Increase in valuation allowance for deferred income tax asset	7,100
Foreign Tax Authority
Tax Credit Carryforward
Foreign tax holiday	$ 7,200
Foreign tax holiday (per share)	$ 0.04
Net operating loss carryforwards	$ 10,100
Valuation allowance	7,600
Operating loss carryforward, increase in valuation allowance	(300)
Wisconsin Research And Development Credit | State and Local Jurisdiction
Tax Credit Carryforward
Net capital loss carryforwards	$ 47,800