Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Debt Instrument [Line Items]
Total interest expense	$ 2,028	$ 2,885	$ 2,239
Convertible Senior Notes Due 2026 | Convertible Debt
Debt Instrument [Line Items]
Contractual interest expense	316
Amortization of debt discount and issuance costs	135
Total interest expense	$ 451