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Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Outstanding performance obligation $ 107,014   $ 107,014  
Warranty period     1 year  
Total revenue 132,253 $ 156,096 $ 405,299 $ 464,769
Amounts included in contract liability at the beginning of period     28,850 30,457
Collaborative Arrangement        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Total revenue $ 3,301 $ 1,475 $ 9,075 $ 5,322
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2022-10-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Remaining performance obligation (as a percentage) 90.60%   90.60%  
Performance obligations expected to be satisfied, expected timing 12 months   12 months  
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2023-10-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Remaining performance obligation (as a percentage) 3.00%   3.00%  
Performance obligations expected to be satisfied, expected timing 3 months   3 months