Long-term Debt - Convertible Senior Notes - Additional Information (Details)		1 Months Ended			9 Months Ended
	Dec. 11, 2019	Jun. 30, 2022 USD ($)	Nov. 30, 2021 USD ($)	Dec. 31, 2019 Days $ / shares	Sep. 30, 2023 USD ($) Days	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Debt Instrument [Line Items]
Debt instrument, threshold trading days | Days					5
Number of business day | Days					5
Long-term debt					$ 281,449,000		$ 280,244,000
Additional paid in capital					(450,746,000)		(403,599,000)
Accumulated deficit					414,971,000		386,785,000
Induced conversion expense related to convertible notes						$ 2,232,000
2019 Convertible Senior Notes due 2026
Debt Instrument [Line Items]
Cap price of the capped call transactions | $ / shares				$ 54.2
Capped call transactions expiration consecutive days | Days				40
Capped call transaction expiring date	Dec. 11, 2026
2019 Convertible Senior Notes due 2026 | 2019 Note Repurchase
Debt Instrument [Line Items]
Payment of 2019 Notes		$ 17,600,000	$ 183,600,000
Repurchase of debt principal amount		$ 9,850,000	$ 76,400,000
2021 Convertible Senior Notes due 2027
Debt Instrument [Line Items]
Debt instrument, maturity date			May 15, 2027
Net proceeds from issuing notes			$ 278,400,000
Accrued interest					1,200,000		404,000
Unamortized debt issuance costs					6,051,000		7,256,000
2021 Convertible Promissory Notes due 2027
Debt Instrument [Line Items]
Aggregate principal amount			$ 287,500,000
Debt instrument, maturity date			May 15, 2027
2021 Convertible Promissory Notes due 2027 | Level 2
Debt Instrument [Line Items]
Estimated fair value					$ 251,900,000		$ 347,400,000
Convertible Senior Notes
Debt Instrument [Line Items]
Debt instrument, threshold consecutive trading days | Days					30
Debt instrument, threshold percentage of stock price trigger					130.00%
Debt instrument, terms of conversion feature					Regardless of the foregoing circumstances, holders may convert all or any portion of the 2021 Notes, in increments of $1,000 principal amount, on or after February 15, 2027, until the close of business on the second scheduled trading day immediately preceding the maturity date.
Percentage of repurchase price of principal amount					100.00%
Convertible Senior Notes | Minimum
Debt Instrument [Line Items]
Debt instrument, threshold trading days | Days					20
Convertible Senior Notes | Maximum
Debt Instrument [Line Items]
Debt instrument, threshold percentage of stock price trigger					98.00%