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Debt - Summary of Interest Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Long-term debt      
Amortization of debt issuance costs $ 694 $ 524 $ 433
Convertible debt | Convertible Senior Notes, 1.5%, Due September 15, 2026      
Long-term debt      
Contractual interest expense 1,220    
Amortization of debt issuance costs 140    
Amortization of debt discount 3,659    
Total $ 5,019    
Effective interest rate of the liability component 10.20%    
Convertible debt | 3.00% Convertible senior notes due 2022      
Long-term debt      
Contractual interest expense $ 4,500 4,500  
Amortization of debt issuance costs 417 375  
Amortization of debt discount 8,368 7,518  
Total $ 13,285 $ 12,393  
Effective interest rate of the liability component 11.00% 11.00%