Summary of Significant Accounting Policies - Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 118,453	$ 116,336
Less: accumulated depreciation and amortization	(98,733)	(94,142)
Property, plant and equipment, net	19,720	22,194
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	91,490	87,028
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	6,225	6,377
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment at cost	$ 20,738	$ 22,931