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Property, Plant, and Equipment, Net - Summary of Property, Plant, and Equipment, Net (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | $ 205,232 | $ 223,377
Accumulated depreciation | (163,301) | (170,474)
Property, plant and equipment, net, excluding construction in progress | 41,931 | 52,903
Construction in progress | 2,688 | 9,888
Total property, plant, and equipment, net | 44,619 | 62,791
Buildings |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 17,806 | 18,291
Computer equipment |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 9,679 | 9,344
Furniture and fixtures |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 3,598 | 3,529
Leasehold and building improvements |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 33,049 | 39,761
Construction in progress | 623 | 475
Machinery and equipment |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 82,302 | 96,947
Construction in progress | 738 | 2,282
Software |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 28,074 | 23,607
Construction in progress | 11 | 4,862
Tooling |  |
Property, Plant and Equipment [Line Items] |  |
Property, plant and equipment, gross | 30,724 | 31,898
Construction in progress | $ 1,197 | $ 1,827

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