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Summary of Significant Accounting Policies - Narrative (Details) - USD ($) |  | 12 Months Ended
--- | --- | ---
Mar. 28, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Class of Stock [Line Items] |  |  |
Cash and cash equivalents |  | $ 73,981,000 | $ 50,708,000
Marketable securities |  | 22,518,000 | 106,513,000
Goodwill impairment loss |  | 0 | 0
At-The-Market Offering Program |  |  |
Class of Stock [Line Items] |  |  |
Approximate remaining authorized aggregate offering price under shelf registration |  | $ 93,200 |
Subsequent event | Maximum | Forecast |  |  |
Class of Stock [Line Items] |  |  |
Royalty financing | $ 75,000,000 |  |
4.50% Exchangeable Senior Notes Due February 2023 |  |  |
Class of Stock [Line Items] |  |  |
Interest rate |  | 4.50% |
4.50% Exchangeable Senior Notes Due February 2023 | Senior Notes |  |  |
Class of Stock [Line Items] |  |  |
Principal amount |  | $ 17,500,000 | 143,750,000
4.50% Exchangeable Senior Notes Due October 2023 |  |  |
Class of Stock [Line Items] |  |  |
Interest rate |  | 4.50% |
4.50% Exchangeable Senior Notes Due October 2023 | Senior Notes |  |  |
Class of Stock [Line Items] |  |  |
Principal amount |  | $ 117,375,000 | $ 0
4.50% Exchangeable Senior Notes Due October 2023 | Senior Notes | Subsequent event |  |  |
Class of Stock [Line Items] |  |  |
Principal amount | 21,187,000 |  |
Debt exchanged | $ 96,188,000 |  |
April 2027 Notes | Subsequent event |  |  |
Class of Stock [Line Items] |  |  |
Interest rate | 6.00% |  |

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