We report a study of the reorientation of the helimagnetic order in the archetypal cubic chiral magnet MnSi as a function of magnetic field direction. The reorientation process as inferred from small-angle neutron scattering, the magnetization, and the ac susceptibility is in excellent agreement with an effective mean-field theory taking into account the precise symmetries of the crystallographic space group. Depending on the field and temperature history and the direction of the field with respect to the crystalline axes, the helix reorientation may exhibit a crossover, a first-order, or a second-order transition. The magnetization and ac susceptibility provide evidence that the reorientation of helimagnetic domains is associated with large relaxation times exceeding seconds. At the second-order transitions residual Ising symmetries are spontaneously broken at continuous elastic instabilities of the helimagnetic order. In addition, on the time scales explored in our experiments these transitions are hysteretic as a function of field suggesting, within the same theoretical framework, the formation of an abundance of plastic deformations of the helical spin order. These deformations comprise topologically non-trivial disclinations, promising novel routes to spintronics applications alongside skyrmions discovered recently in the same class of materials.