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Restructuring, Impairment and Costs of Terminated Program - Schedule of Property, Plant and Equipment (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Restructuring Cost and Reserve [Line Items] |  |  |
Proceeds from sales | $ 1,245 | $ 13,196 | $ 0
Property, plant and equipment, net | 18,856 | 32,451 |
Facility Closing |  |  |
Restructuring Cost and Reserve [Line Items] |  |  |
Proceeds from sales | 1,245 | 13,196 |
Property, plant and equipment, net | 2,545 | 9,870 |
Total (gain) loss on sale or disposal of property, plan and equipment, net | $ 1,300 | $ (3,326) |

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