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Convertible Senior Notes, Net - Narrative (Details)
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2019
USD ($)
Sep. 30, 2023
USD ($)
$ / shares
Sep. 30, 2022
USD ($)
Dec. 31, 2017
USD ($)
offering
Oct. 26, 2023
USD ($)
Dec. 31, 2022
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2018
USD ($)
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent $ 2,211,782,000 $ 2,214,991,000 $ 2,347,561,000 $ 2,407,685,000   $ 2,211,782,000 $ 2,407,685,000     $ 2,354,504,000 $ 2,273,312,000 $ 2,251,018,000 $ 2,294,626,000  
Realized gain on extinguishment of debt 30,000     0   495,000 0              
Adjustment due to Adoption of ASU                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent [1]                         (3,416,000)  
Common Stock                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent $ 1,414,000 1,413,000 1,413,000 1,406,000   $ 1,414,000 1,406,000     1,406,000 1,406,000 1,405,000 1,399,000  
Share price (in dollars per share) | $ / shares $ 10.13         $ 10.13                
Additional Paid-In-Capital                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent $ 2,723,170,000 2,718,920,000 2,714,555,000 2,712,390,000   $ 2,723,170,000 2,712,390,000     2,716,907,000 2,707,872,000 2,703,354,000 2,721,042,000  
Additional Paid-In-Capital | Adjustment due to Adoption of ASU                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent [1]                         (15,408,000)  
Accumulated Deficit                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent (512,870,000) (505,410,000) (368,475,000) (306,179,000)   (512,870,000) (306,179,000)     (363,877,000) $ (436,034,000) $ (453,809,000) (427,883,000)  
Accumulated Deficit | Adjustment due to Adoption of ASU                            
Debt Instrument [Line Items]                            
Stockholders' equity attributable to parent [1]                         11,992,000  
2023 Notes                            
Debt Instrument [Line Items]                            
Debt instrument, repurchase amount $ 10,000,000 $ 36,800,000 $ 7,100,000     10,000,000                
Debt instrument, redemption price, percentage 99.70% 99.30% 97.00%                      
Realized gain on extinguishment of debt $ 30,000         500,000                
Convertible Debt                            
Debt Instrument [Line Items]                            
Debt instrument, face amount 176,064,000         176,064,000       230,000,000        
Interest expense 2,400,000     5,500,000   8,200,000 19,800,000              
Non-cash interest expense 300,000     600,000   1,100,000 2,100,000              
Convertible Debt | 2022 Notes                            
Debt Instrument [Line Items]                            
Number of debt offerings issued | offering               2            
Debt instrument, face amount       $ 345,000,000     $ 345,000,000 $ 345,000,000            
Stated interest rate               4.75%            
Proceeds from convertible debt               $ 337,500,000            
Convertible Debt | 2022 Notes | Additional Paid-In-Capital                            
Debt Instrument [Line Items]                            
Convertible debt, carrying amount of equity component                         11,000,000  
Convertible Debt | 2023 Notes                            
Debt Instrument [Line Items]                            
Debt instrument, face amount $ 176,064,000         $ 176,064,000       $ 230,000,000       $ 230,000,000
Stated interest rate 5.38%         5.38%       5.38%       5.375%
Proceeds from convertible debt         $ 223,700,000                  
Convertible senior notes, net $ 176,000,000         $ 176,000,000                
Unamortized discount $ 100,000         $ 100,000                
Convertible Debt | 2023 Notes | Subsequent Event                            
Debt Instrument [Line Items]                            
Debt instrument, face amount                 $ 176,100,000          
Convertible Debt | 2023 Notes | Additional Paid-In-Capital                            
Debt Instrument [Line Items]                            
Convertible debt, carrying amount of equity component                         4,400,000  
Convertible Debt | 2022 and 2023 Notes | Additional Paid-In-Capital                            
Debt Instrument [Line Items]                            
Convertible debt, carrying amount of equity component                         $ 15,400,000  
[1] Refer to "Note 10 - Convertible Senior Notes, Net" for detail