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Restructuring Expenses - Summary of Restructuring Expenses (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring expenses | $ 22,803 | $ 2,020 | $ 9,961
Cost of product and service revenues |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring expenses | 8,018 | 389 | 2,564
Research and development |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring expenses | 3,615 | 105 | 3,716
Selling, general, and administrative |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Restructuring expenses | $ 11,170 | $ 1,526 | $ 3,681

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- Definition Amount, after cash payment, 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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 + Details
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