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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Jul. 31, 2020
Long-term debt          
Amortization of debt issuance costs     $ 1,574 $ 1,316  
Effective interest rate of the liability component 9.30%   9.30%   11.00%
Convertible debt | 3.00% Convertible senior notes due 2022          
Long-term debt          
Contractual interest expense   $ 559   2,800  
Amortization of debt issuance costs   92   460  
Total   $ 651   $ 3,260  
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 $ 1,080 $ 1,081 $ 3,215 $ 3,217  
Amortization of debt issuance costs 294 289 872 856  
Total $ 1,374 $ 1,370 $ 4,087 $ 4,073  
Effective interest rate of the liability component 1.90% 1.90% 1.90% 1.90%