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Debt - Interest Income and Interest Expense Disclosure (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Debt Instrument [Line Items]
Total interest expense	$ 906	$ 1,326	$ 2,815	$ 3,973
2026 Convertible Notes:
Debt Instrument [Line Items]
Contractual interest expense	109	250	356	750
Amortization of debt issuance costs	217	497	723	1,488
Total interest expense	326	747	1,079	2,238
2028 Convertible Notes:
Debt Instrument [Line Items]
Contractual interest expense	313	313	939	939
Amortization of debt issuance costs	267	266	797	796
Total interest expense	$ 580	$ 579	$ 1,736	$ 1,735

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