Long-term Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
2019 Convertible Senior Notes due 2026
Debt Instrument [Line Items]
Amortization of debt issuance costs		$ 10
Cash interest expense		49
Total interest expense		59
2021 Convertible Senior Notes due 2027
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 400	393
Cash interest expense	809	809
Total interest expense	$ 1,209	1,202
Convertible Senior Notes
Debt Instrument [Line Items]
Amortization of debt issuance costs		403
Cash interest expense		858
Total interest expense		$ 1,261