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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Jul. 31, 2020
Long-term debt          
Amortization of debt issuance costs     $ 1,001 $ 935  
Effective interest rate of the liability component 9.70%   9.70%   11.00%
Convertible debt | 3.00% Convertible senior notes due 2022          
Long-term debt          
Contractual interest expense   $ 1,131   2,241  
Amortization of debt issuance costs   186   368  
Total   $ 1,317   $ 2,609  
Effective interest rate of the liability component   3.50%   3.50%  
Convertible debt | 1.50% Convertible senior notes due 2026          
Long-term debt          
Contractual interest expense $ 1,066 $ 1,066 $ 2,135 $ 2,135  
Amortization of debt issuance costs 290 284 578 567  
Total $ 1,356 $ 1,350 $ 2,713 $ 2,702  
Effective interest rate of the liability component 1.90% 1.90% 1.90% 1.90%