Long-term Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
2019 Convertible Senior Notes due 2026
Debt Instrument [Line Items]
Amortization of debt issuance costs		$ 8		$ 19
Cash interest expense		38		87
Total interest expense		46		106
2021 Convertible Senior Notes due 2027
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 402	395	$ 802	788
Cash interest expense	809	809	1,618	1,617
Total interest expense	$ 1,211	1,204	$ 2,420	2,405
Convertible Senior Notes
Debt Instrument [Line Items]
Amortization of debt issuance costs		403		807
Cash interest expense		847		1,704
Total interest expense		$ 1,250		$ 2,511