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Fair Value Measurements - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Maturities of marketable securities $ 91,800 $ 74,300 $ 0
Proceeds from sale of marketable securities 38,300 34,400 0
Interest earned on marketable securities (less than) 2,000 1,200 $ 0
Accrued interest, after allowance for credit loss $ 300 $ 300  
Financing Receivable, Accrued Interest, after Allowance for Credit Loss, Statement of Financial Position [Extensible Enumeration] Prepaid expenses and other current assets Prepaid expenses and other current assets  
Pension Plan      
Debt Instrument [Line Items]      
Fair value of plan assets $ 3,600 $ 3,200  
Convertible notes | 2026 Convertible Notes:      
Debt Instrument [Line Items]      
Fair value 145,500 180,900  
Convertible notes | 2028 Convertible Notes:      
Debt Instrument [Line Items]      
Fair value $ 157,600 $ 156,500