Debt - Summary of Components of Interest Expense (Details) - 3.5% Convertible Notes Due 2023 - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Cash interest expense	$ 397	$ 5,727
Non-cash interest expense	60	1,042
Total interest expense	$ 457	$ 6,769