Restructuring Expenses - Total Restructuring Expense Recognized in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2021	Mar. 31, 2020
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 2,020	$ 3,605
Cost of product and service revenues
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	389	75
Research and development
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	105	798
Selling, general, and administrative
Restructuring Cost and Reserve [Line Items]
Restructuring expenses	$ 1,526	$ 2,732

Amount of expenses associated with exit or disposal activities pursuant to an authorized plan. Excludes expenses related to a discontinued operation or an asset retirement obligation.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 420
-SubTopic 10
-Section S99
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Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
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-Name Accounting Standards Codification
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 230
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Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration