Long-term Debt - Components of Borrowings, Including Current Portion (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term debt, net	$ 227,764	$ 226,622
Convertible Notes
Debt Instrument [Line Items]
Less: unamortized issuance costs	(2,236)	(3,378)
Long-term debt, net	227,764	226,622
Convertible Notes
Debt Instrument [Line Items]
Outstanding principal of Convertible Notes	$ 230,000	$ 230,000