Long-term Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
2019 Convertible Senior Notes due 2026
Debt Instrument [Line Items]
Amortization of debt issuance costs				$ 19
Cash interest expense				87
Total interest expense				106
2021 Convertible Senior Notes due 2027
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 404	$ 396	$ 1,206	1,184
Cash interest expense	809	809	2,427	2,426
Total interest expense	$ 1,213	1,205	$ 3,633	3,610
Convertible Senior Notes
Debt Instrument [Line Items]
Amortization of debt issuance costs		396		1,203
Cash interest expense		809		2,513
Total interest expense		$ 1,205		$ 3,716