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Restructuring, Impairment and Costs of Terminated Program, and Impairment of Goodwill - Sublease Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Mar. 31, 2023
Sep. 30, 2023
Sep. 30, 2022
Jun. 30, 2023
Dec. 31, 2022
Restructuring Cost and Reserve [Line Items]            
Impairment expense for facilities $ (10,567)   $ (35,329) $ (53,401)    
(Gain) on sale or disposal of property, plant and equipment, net (394)          
Impairment of other property, plant and equipment   $ 1,700 1,299 5,120    
Impairment of other property, plant and equipment 10,173   36,628 58,521    
Reported Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       90,539 $ 21,880 $ 73,913
Property, Plant and Equipment            
Restructuring Cost and Reserve [Line Items]            
Impairment expense for facilities 1,400   4,771 9,372    
(Gain) on sale or disposal of property, plant and equipment, net (394)          
Impairment of other property, plant and equipment     1,299 5,120    
Impairment of other property, plant and equipment 1,006   6,070 14,492    
Property, Plant and Equipment | Reported Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       16,348 3,050 10,257
Operating Lease Right-of-Use Assets            
Restructuring Cost and Reserve [Line Items]            
Impairment expense for facilities 9,167   30,558 44,029    
(Gain) on sale or disposal of property, plant and equipment, net 0          
Impairment of other property, plant and equipment     0 0    
Impairment of other property, plant and equipment $ 9,167   $ 30,558 44,029    
Operating Lease Right-of-Use Assets | Reported Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       74,191 18,830 63,656
Fair Value, Level 3 | Estimate of Fair Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       37,138 11,313 38,584
Fair Value, Level 3 | Property, Plant and Equipment | Estimate of Fair Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       6,976 1,650 5,486
Fair Value, Level 3 | Operating Lease Right-of-Use Assets | Estimate of Fair Value Measurement            
Restructuring Cost and Reserve [Line Items]            
Property, plant and equipment and operating lease right-of-use assets       $ 30,162 $ 9,663 $ 33,098