Convertible Senior Notes - Components (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	May 31, 2020	May 29, 2020	May 18, 2020	Mar. 31, 2018
Convertible Senior Notes
Unamortized debt discount	$ (1,600)
Net carrying amount	195,264	$ 193,919
Conversion of convertible senior notes to common stock			$ 15,345
3.75% Convertible Senior Notes
Convertible Senior Notes
Principal amount	197,278	197,278			$ 212,463	$ 12,500	$ 200,000
Unamortized debt issuance costs	(2,014)	(3,359)
Net carrying amount	195,264	193,919
Interest rate (as a percent)			3.75%	3.75%	3.75%	3.75%	3.75%	3.75%
Conversion of convertible senior notes to common stock	$ 0	$ 0