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Summary of Significant Accounting Policies - Narrative (Details)
 3 Months Ended 12 Months Ended
Jan. 01, 2021
USD ($)
Mar. 31, 2020
USD ($)
Dec. 31, 2022
USD ($)
renewal_option
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Mar. 19, 2021
USD ($)
Jan. 30, 2018
USD ($)
Debt Instrument [Line Items]              
Impairments of goodwill   $ 406,100,000 $ 0 $ 0 $ 406,056,000    
Assets impairments of charges     $ 0 4,166,000 12,447,000    
Number of renewal options | renewal_option     1        
Research and development expense     $ 3,500,000 4,400,000 $ 6,100,000    
Derivative, notional amount     $ 0 $ 0      
Revenue, remaining performance obligation, percentage of obligations, remaining in year two (as a percent)     46.00%        
Product warranty period minimum     12 months        
Product warranty period maximum     18 months        
Maximum amount of potential payment under guarantor obligation     $ 15,400,000        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01              
Debt Instrument [Line Items]              
Revenue, remaining performance obligation     $ 212,000,000        
Revenue, remaining performance obligation, expected timing of satisfaction, period (in years)     1 year        
Transferred at Point in Time              
Debt Instrument [Line Items]              
Revenue from contract with customer, percentage of revenue (as a percent)     35.00% 35.00% 38.00%    
Transferred over Time              
Debt Instrument [Line Items]              
Revenue from contract with customer, percentage of revenue (as a percent)     65.00% 65.00% 62.00%    
Minimum              
Debt Instrument [Line Items]              
Operating lease, extension term     1 year        
Maximum              
Debt Instrument [Line Items]              
Operating lease, extension term     20 years        
1.5% Convertible Unsecured Senior Notes              
Debt Instrument [Line Items]              
Principal amount     $ 17,300,000        
Stated interest rate (as a percent)     1.50%       1.50%
Debt instrument, face amount             $ 200,000,000
1.5% Convertible Unsecured Senior Notes | Convertible Debt              
Debt Instrument [Line Items]              
Effective interest rate percentage 2.00%     6.00%      
1.5% Convertible Unsecured Senior Notes | Cumulative Effect, Period of Adoption, Adjustment | Convertible Debt              
Debt Instrument [Line Items]              
Debt instrument, increase net $ 12,200,000            
Decrease in deferred income taxes 2,700,000            
Net decrease, stockholder's equity $ 9,500,000            
1.5% Convertible Unsecured Senior Notes | Fair Value, Inputs, Level 2 | Fair Value              
Debt Instrument [Line Items]              
Long-term debt, fair value     $ 17,400,000        
4.75% Convertible Senior Notes              
Debt Instrument [Line Items]              
Principal amount     135,000,000        
Stated interest rate (as a percent)       4.75%   4.75%  
Debt instrument, face amount           $ 135,000,000  
4.75% Convertible Senior Notes | Fair Value, Inputs, Level 2 | Fair Value              
Debt Instrument [Line Items]              
Long-term debt, fair value     $ 143,200,000