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Restructuring Activities - Changes in Liabilities (Details)
$ in Thousands
3 Months Ended
Mar. 31, 2024
USD ($)
Restructuring Reserve [Roll Forward]  
Beginning balance: $ 3,756
Additions 853
Payments and adjustment (4,162)
Ending balance: 447
Consulting and Employee  
Restructuring Reserve [Roll Forward]  
Beginning balance: 3,574
Additions 95
Payments and adjustment (3,669)
Ending balance: 0
Severance  
Restructuring Reserve [Roll Forward]  
Beginning balance: 144
Additions 747
Payments and adjustment (444)
Ending balance: 447
Facility, asset impairment and other expense  
Restructuring Reserve [Roll Forward]  
Beginning balance: 38
Additions 11
Payments and adjustment (49)
Ending balance: $ 0