Fair Value of Financial Instruments - Schedule of Carrying Values and Estimated Fair Values of Debt Instruments (Details) - Convertible notes - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Fair Value, Concentration of Risk, Financial Statement Captions [Line Items]
Total principal	$ 415,158	$ 413,752
Convertible notes, fair value	$ 485,563	$ 430,236

Amount, after deduction of unamortized premium (discount) and debt issuance cost, of long-term debt. Excludes lease obligation.

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