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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Jul. 31, 2020
Long-term debt      
Amortization of debt issuance costs $ 438 $ 464  
Effective interest rate of the liability component 9.80%   11.00%
Convertible debt | 3.00% Convertible senior notes due 2022      
Long-term debt      
Contractual interest expense   1,110  
Amortization of debt issuance costs   181  
Total   $ 1,291  
Effective interest rate of the liability component   3.50%  
Convertible debt | 1.50% Convertible senior notes due 2026      
Long-term debt      
Contractual interest expense $ 1,069 $ 1,069  
Amortization of debt issuance costs 288 283  
Total $ 1,357 $ 1,352  
Effective interest rate of the liability component 1.90% 1.90%