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Debt - Senior Notes (Details)
 1 Months Ended 3 Months Ended
Jun. 30, 2021
Mar. 31, 2021
USD ($)
day
$ / shares
Jun. 30, 2020
USD ($)
day
$ / shares
Mar. 31, 2023
USD ($)
$ / shares
Mar. 31, 2022
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Jan. 01, 2021
USD ($)
Debt Instrument [Line Items]                
Stockholders' equity       $ 164,875,000 $ 164,436,000 $ 166,555,000 $ 169,900,000  
Long-term debt       356,078,000   355,580,000    
Cash interest expense       2,752,000 2,798,000      
Amortization of debt issuance costs       498,000 480,000      
Additional Paid-In Capital                
Debt Instrument [Line Items]                
Stockholders' equity       966,515,000 916,191,000 955,509,000 903,470,000  
Accumulated Deficit                
Debt Instrument [Line Items]                
Stockholders' equity       (801,641,000) (751,756,000) (788,955,000) $ (733,571,000)  
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       $ 146,976,000   146,726,000    
Effective interest rate       5.80%        
Cash interest expense       $ 1,900,000 1,900,000      
Amortization of debt discount and issuance costs       $ 300,000 $ 200,000      
Conversion rate 0.0793903              
Conversion price (in dollars per share) | $ / shares     $ 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       $ 155,100,000        
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       $ 209,102,000   $ 208,854,000    
Effective interest rate       1.30% 1.30%      
Cash interest expense       $ 400,000 $ 400,000      
Conversion rate   0.0358616            
Conversion price (in dollars per share) | $ / shares   $ 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       165,300,000        
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       $ 200,000 $ 200,000      
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