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Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Millions
 3 Months Ended 12 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Convertible senior notes, net of discount $ 9.5 $ 10.1
Preferred stock, par value per share (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 2,500,000 2,500,000
Common stock, par value per share (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized 100,000,000 100,000,000
Common stock, shares issued 48,501,406 48,334,280
Common stock, shares outstanding 48,501,406 48,334,280
Class A convertible preferred stock    
Preferred stock, par value per share (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 800,000 800,000
Preferred stock, shares issued 0 0
Preferred stock, shares outstanding 0 0
Class B convertible preferred stock    
Preferred stock, par value per share (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 585,000 585,000
Preferred stock, shares issued 0 0
Preferred stock, shares outstanding 0 0
Class C convertible preferred stock    
Preferred stock, par value per share (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized 250,000 250,000
Preferred stock, shares issued 200,000 200,000
Preferred stock, shares outstanding 200,000 200,000