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Long-term Debt - Convertible Senior Notes Carrying Value (Details) - Senior Notes - USD ($)	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2020	Aug. 31, 2020	Oct. 31, 2018	Oct. 24, 2018	Oct. 22, 2018	Dec. 31, 2016
2024 Notes
Debt Instrument [Line Items]
Carrying value	$ 85,320,000	$ 81,462,000
Unamortized debt discount and issuance costs	31,731,000	35,589,000
Principal amount	$ 117,051,000	$ 117,051,000	$ 117,100,000
Remaining amortization period (years)	3 years 4 months 24 days	3 years 10 months 24 days
2024 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 132,054,000	$ 153,220,000
2025 Notes
Debt Instrument [Line Items]
Carrying value	121,230,000	116,349,000
Unamortized debt discount and issuance costs	51,270,000	56,151,000
Principal amount	$ 172,500,000	$ 172,500,000		$ 172,500,000	$ 22,500,000	$ 150,000,000.0
Remaining amortization period (years)	4 years 3 months 18 days	4 years 9 months 18 days
2025 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 165,974,000	$ 147,488,000
2021 Notes
Debt Instrument [Line Items]
Carrying value	26,655,000	26,557,000
Unamortized debt discount and issuance costs	82,000	180,000
Principal amount	$ 26,737,000	$ 26,737,000					$ 125,000,000.0
Remaining amortization period (years)	4 months 24 days	10 months 24 days
2021 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 29,279,000	$ 26,470,000

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