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Long-term Debt - Convertible Senior Notes Carrying Value (Details) - Senior Notes - USD ($)	9 Months Ended	12 Months Ended
	Sep. 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	$ 87,317,000	$ 81,462,000
Unamortized debt discount and issuance costs	29,734,000	35,589,000
Principal amount	$ 117,051,000	$ 117,051,000	$ 117,100,000
Remaining amortization period (years)	3 years 2 months 12 days	3 years 10 months 24 days
2024 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 174,962,000	$ 153,220,000
2025 Notes
Debt Instrument [Line Items]
Carrying value	123,746,000	116,349,000
Unamortized debt discount and issuance costs	48,754,000	56,151,000
Principal amount	$ 172,500,000	$ 172,500,000		$ 172,500,000	$ 22,500,000	$ 150,000,000
Remaining amortization period (years)	4 years	4 years 9 months 18 days
2025 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 193,799,000	$ 147,488,000
2021 Notes
Debt Instrument [Line Items]
Carrying value	26,704,000	26,557,000
Unamortized debt discount and issuance costs	33,000	180,000
Principal amount	$ 26,737,000	$ 26,737,000					$ 125,000,000
Remaining amortization period (years)	2 months 12 days	10 months 24 days
2021 Notes | Level 2
Debt Instrument [Line Items]
Fair value	$ 29,404,000	$ 26,470,000

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Including the current and noncurrent portions, carrying amount of debt identified as being convertible into another form of financial instrument (typically the entity's common stock) as of the balance sheet date, which originally required full repayment more than twelve months after issuance or greater than the normal operating cycle of the company.

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