Convertible Senior Notes - Schedule of convertible note interest expense (Details) - 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]
Amortization of debt issuance costs			$ 914	$ 905
2019 Notes
Debt Instrument [Line Items]
Contractual interest expense	$ 269	$ 269	539	539
Amortization of debt issuance costs	457	453	914	905
Total	$ 726	$ 722	$ 1,453	$ 1,444
Effective interest rate of the liability component	1.00%	1.00%	1.00%	1.00%