Long-term Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
2019 Convertible Senior Notes due 2026
Debt Instrument [Line Items]
Amortization of debt issuance costs		$ 19	$ 329
Cash interest expense		87	1,488
Total interest expense		106	1,817
2021 Convertible Senior Notes due 2027
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 1,612	1,583	239
Cash interest expense	3,236	3,234	494
Total interest expense	$ 4,848	4,817	733
Convertible Senior Notes
Debt Instrument [Line Items]
Amortization of debt issuance costs		1,602	568
Cash interest expense		3,321	1,982
Total interest expense		$ 4,923	$ 2,550