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Long-term Debt - Convertible Senior Notes Carrying Value (Details) - Senior Notes - USD ($)
Sep. 30, 2023
Dec. 31, 2022
Aug. 31, 2020
Oct. 31, 2018
Oct. 24, 2018
Oct. 22, 2018
2024 Notes            
Debt Instrument [Line Items]            
Carrying value $ 991,000 $ 23,925,000        
Unamortized debt discount and issuance costs 9,000 356,000        
Principal amount $ 1,000,000 $ 24,281,000 $ 117,100,000      
Remaining amortization period (years) 0 years 1 year 10 months 24 days        
2024 Notes | Level 2            
Debt Instrument [Line Items]            
Fair value   $ 38,000,000        
2025 Notes            
Debt Instrument [Line Items]            
Carrying value $ 169,848,000 168,885,000        
Unamortized debt discount and issuance costs 2,652,000 3,615,000        
Principal amount $ 172,500,000 $ 172,500,000   $ 172,500,000 $ 22,500,000 $ 150,000,000
Remaining amortization period (years) 2 years 2 years 9 months 18 days        
2025 Notes | Level 2            
Debt Instrument [Line Items]            
Fair value $ 183,066,000 $ 185,546,000