Convertible Senior Notes - Narratives (Details) $ / shares in Units, $ in Thousands			1 Months Ended	2 Months Ended	12 Months Ended
	Jan. 07, 2021 shares	May 18, 2020 USD ($) D $ / shares	May 31, 2020 USD ($)	Feb. 28, 2021 shares	Dec. 31, 2023 USD ($) shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($) shares	Dec. 31, 2020 USD ($) shares	May 29, 2020 USD ($)	Mar. 31, 2018 USD ($)
Convertible Senior Notes
Net proceeds					$ 104,251	$ 122,886	$ 108,925
Conversion of convertible senior notes to common stock							$ 15,345
Long-term borrowings					3,900
Carrying amount of the liability component					$ 5,457
Gain/(loss) on extinguishment of debt						(986)
Common stock shares issued | shares				32,200,000
Minimum
Convertible Senior Notes
Effective interest rate (as a percent)					5.60%
Maximum
Convertible Senior Notes
Effective interest rate (as a percent)					8.30%
3.75% Convertible Senior Notes
Convertible Senior Notes
Principal amount		$ 200,000	$ 212,463		$ 197,278	197,278			$ 12,500
Interest rate (as a percent)		3.75%	3.75%				3.75%	3.75%	3.75%	3.75%
Net proceeds			$ 189,219
Conversion of convertible senior notes to common stock					$ 0	$ 0
Conversion of notes through common stock issuance (in shares) | shares					0	0	3,000,000.0
Conversion of convertible senior notes to common stock							$ 15,200
Maturity principal amount		$ 1
Conversion rates for the notes (in shares)		198.6196
Conversion price, per share | $ / shares		$ 5.03
Trading days | D		20
Consecutive trading days | D		30
Conversion price (as a percent)		130.00%
Number of business days		5 days
Number of consecutive trading days		5 days
Principal amount (as a percent)		98.00%
Percentage of principal amount to be redeemed		100.00%
Effective interest rate (as a percent)					4.60%	4.50%
Transaction costs for issuance		$ 7,000
Initial purchasers' discount		6,400
Other issuance costs		$ 600	$ 617
Fair value of convertible senior notes					$ 213,200
3.75% Convertible Senior Notes | Minimum
Convertible Senior Notes
Redemption notice days		1 day
3.75% Convertible Senior Notes | Maximum
Convertible Senior Notes
Redemption notice days		3 days
5.5% Convertible Senior Notes
Convertible Senior Notes
Principal amount										$ 100,000
Interest rate (as a percent)	5.50%						5.50%	5.50%		5.50%
Aggregate repurchase of debt								$ 66,300
Conversion of convertible senior notes to common stock								$ 33,500
Conversion of notes through common stock issuance (in shares) | shares	69,808							14,600,000