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Debt - Senior Notes (Details)
1 Months Ended 3 Months Ended 9 Months Ended
Jun. 30, 2021
USD ($)
Mar. 31, 2021
USD ($)
day
Jun. 30, 2020
USD ($)
day
$ / shares
Sep. 30, 2022
USD ($)
$ / shares
Sep. 30, 2021
USD ($)
Sep. 30, 2022
USD ($)
$ / shares
Sep. 30, 2021
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Jan. 01, 2021
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]                        
Stockholders' equity $ 175,120,000 $ 183,292,000   $ 150,116,000 $ 170,458,000 $ 150,116,000 $ 170,458,000 $ 158,815,000 $ 164,436,000 $ 169,900,000   $ 315,572,000
Long-term debt       355,067,000   355,067,000       353,564,000    
Cash interest expense       2,826,000 2,814,000 8,461,000 13,200,000          
Amortization of debt issuance costs       529,000 511,000 1,504,000 1,671,000          
Additional Paid-In Capital                        
Debt Instrument [Line Items]                        
Stockholders' equity 875,041,000 862,673,000   943,083,000 887,192,000 943,083,000 887,192,000 930,658,000 916,191,000 903,470,000   913,115,000
Accumulated Deficit                        
Debt Instrument [Line Items]                        
Stockholders' equity $ (699,922,000) (679,382,000)   (792,968,000) $ (716,735,000) (792,968,000) (716,735,000) $ (771,844,000) $ (751,756,000) (733,571,000)   (597,544,000)
Cumulative effect adjustment                        
Debt Instrument [Line Items]                        
Stockholders' equity                       (42,399,000)
Cumulative effect adjustment | Additional Paid-In Capital                        
Debt Instrument [Line Items]                        
Stockholders' equity                       (45,452,000)
Cumulative effect adjustment | Accumulated Deficit                        
Debt Instrument [Line Items]                        
Stockholders' equity                       $ 3,053,000
Cumulative effect adjustment | Accounting Standards Update 2020-06                        
Debt Instrument [Line Items]                        
Long-term debt                     $ 42,400,000  
Cumulative effect adjustment | Accounting Standards Update 2020-06 | Additional Paid-In Capital                        
Debt Instrument [Line Items]                        
Stockholders' equity                     (45,500,000)  
Cumulative effect adjustment | Accounting Standards Update 2020-06 | Accumulated Deficit                        
Debt Instrument [Line Items]                        
Stockholders' equity                     $ 3,100,000  
Convertible Senior Notes | 2025 Notes                        
Debt Instrument [Line Items]                        
Aggregate principal amount     $ 150,000,000                  
Stated interest rate     5.00%                  
Total issuance costs     $ 5,700,000                  
Proceeds from issuance of debt, net of discounts and debt issuance costs     $ 144,300,000                  
Long-term debt       $ 146,474,000   $ 146,474,000       145,729,000    
Effective interest rate       5.80%   5.80%            
Cash interest expense           $ 5,600,000 5,600,000          
Amortization of debt discount and issuance costs           $ 700,000 700,000          
Conversion rate 0.0793903                      
Conversion price (in dollars per share) | $ / shares     $ 12.60 $ 12.60   $ 12.60            
Threshold percentage of stock price trigger for redemption     130.00%                  
Period over which default must be cured or waived after notice is given     60 days                  
Amount of judgment payments rendered that classify as an event of default     $ 10,000,000                  
Discharge or stay period for judgment     45 days                  
Percent of the aggregate principal amount due upon event of default     25.00%                  
Special interest rate period     180 days                  
Special interest rate     0.50%                  
Convertible Senior Notes | 2025 Notes | Fair Value, Inputs, Level 2                        
Debt Instrument [Line Items]                        
Estimated fair value of long-term debt       $ 140,700,000   $ 140,700,000            
Convertible Senior Notes | 2025 Notes | Conversion Condition 1                        
Debt Instrument [Line Items]                        
Threshold percentage of stock price trigger for conversion     130.00%                  
Threshold trading days for conversion | day     20                  
Threshold consecutive trading days for conversion | day     30                  
Convertible Senior Notes | 2025 Notes | Conversion Condition 2                        
Debt Instrument [Line Items]                        
Threshold percentage of stock price trigger for conversion     98.00%                  
Threshold consecutive trading days for conversion | day     10                  
Convertible Senior Notes | 2026 Notes                        
Debt Instrument [Line Items]                        
Aggregate principal amount   $ 212,750,000                    
Stated interest rate   0.75%                    
Long-term debt       $ 208,593,000   $ 208,593,000       $ 207,835,000    
Effective interest rate       1.30%   1.30%            
Cash interest expense           $ 1,200,000 900,000          
Conversion rate   0.0358616                    
Conversion price (in dollars per share) | $ / shares       $ 27.89   $ 27.89            
Threshold percentage of stock price trigger for redemption   130.00%                    
Period over which default must be cured or waived after notice is given   60 days                    
Percent of the aggregate principal amount due upon event of default   25.00%                    
Special interest rate period   180 days                    
Special interest rate   0.50%                    
Estimated fair value of long-term debt       $ 148,700,000   $ 148,700,000            
Debt issuance costs and discount   $ 5,700,000                    
Proceeds from the issuance of debt   $ 207,000,000                    
Threshold trading days for redemption | day   20                    
Threshold consecutive trading days for redemption | day   30                    
Cure period   30 days                    
Default on debt by the Company or subsidiary that classifies as an Event of Default   $ 10,000,000                    
Amortization of debt issuance costs           $ 800,000 $ 600,000          
Convertible Senior Notes | 2026 Notes | Conversion Condition 1                        
Debt Instrument [Line Items]                        
Threshold percentage of stock price trigger for conversion   130.00%                    
Threshold trading days for conversion | day   20                    
Threshold consecutive trading days for conversion | day   30                    
Convertible Senior Notes | 2026 Notes | Conversion Condition 2                        
Debt Instrument [Line Items]                        
Threshold percentage of stock price trigger for conversion   98.00%                    
Threshold consecutive trading days for conversion | day   10