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Severance and Other Charges, net - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Restructuring and Related Activities [Abstract]          
Outstanding liability on severance and other costs $ 2,344,000   $ 2,344,000   $ 5,837,000
Impairment of assets held for sale       $ 4,000,000.0  
Impairment of assets held-for-use   $ 0 15,600,000 0  
Inventory write-offs 0 0 368,000 222,000  
Intangible asset impairments $ 0 $ 0 $ 4,708,000 $ 0