Lines of Credit and Short-Term Debt - Schedule of Components of Interest Expense (Details) - 3.5% Convertible Notes Due 2023 - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Debt Instrument [Line Items]
Cash interest expense	$ 108	$ 1,750	$ 397	$ 3,500
Non-cash interest expense	26	312	60	596
Total interest expense	$ 134	$ 2,062	$ 457	$ 4,096