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Subsequent Events (Details)
3 Months Ended 12 Months Ended
Jan. 24, 2023
USD ($)
d
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
Dec. 31, 2023
USD ($)
Feb. 15, 2023
USD ($)
Subsequent Event [Line Items]              
Common stock, par value (in dollars per share) | $ / shares   $ 0.001 $ 0.001 $ 0.001      
Restructuring Plan              
Subsequent Event [Line Items]              
Expected cost   $ 10,000,000 $ 10,000,000        
Asset impairment charges   1,100,000          
Nutfield, Laser Control Systems, Lanmark and Open Technologies Acquisitions              
Subsequent Event [Line Items]              
Assets impairment charges     1,100,000 $ 0 $ 0    
Subsequent Event | Minimum | Restructuring Plan | Forecast              
Subsequent Event [Line Items]              
Expected cost           $ 10,000,000  
Subsequent Event | Maximum | Restructuring Plan | Forecast              
Subsequent Event [Line Items]              
Expected cost           $ 16,000,000  
Convertible Debt | Subsequent Event              
Subsequent Event [Line Items]              
Face amount             $ 75,000,000
Convertible Senior Notes 2028 | Convertible Debt              
Subsequent Event [Line Items]              
Debt issuance costs   $ 500,000 $ 500,000        
Convertible Senior Notes 2028 | Convertible Debt | Subsequent Event              
Subsequent Event [Line Items]              
Face amount $ 75,000,000            
Debt instrument stated percentage 5.50%            
Debt instrument, convertible, threshold trading days | d 20            
Debt instrument, convertible, threshold consecutive trading days | d 30            
Debt instrument, convertible, threshold percentage of stock price trigger 130.00%            
Debt instrument, convertible, conversion ratio 0.0236072            
Debt instrument initial conversion price premium percentage 20.00%            
Debt instrument redemption price percentage 100.00%            
Proceeds from Secured Notes Payable $ 72,200,000            
Convertible Senior Notes 2028 | Convertible Debt | Subsequent Event | Minimum              
Subsequent Event [Line Items]              
Share price (in dollars per share) | $ / shares $ 35.30            
Convertible Senior Notes 2028 | Convertible Debt | Subsequent Event | Maximum              
Subsequent Event [Line Items]              
Debt instrument conversion price (in dollars per share) | $ / shares 42.36            
Convertible Senior Notes 2028 | Convertible Debt | Subsequent Event | Debt Conversion Terms One              
Subsequent Event [Line Items]              
Common stock, par value (in dollars per share) | $ / shares $ 0.001            
Debt instrument, convertible, threshold trading days | d 20            
Debt instrument, convertible, threshold consecutive trading days | d 30            
Debt instrument, convertible, threshold percentage of stock price trigger 130.00%            
Convertible Senior Notes 2028 | Convertible Debt | Subsequent Event | Debt Conversion Terms Two              
Subsequent Event [Line Items]              
Debt instrument, convertible, threshold trading days | d 5            
Debt instrument, convertible, threshold consecutive trading days | d 10            
Debt instrument, convertible, threshold percentage of stock price trigger 98.00%