Long-term Debt - Liability and Equity Component of Note (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Net carrying amount	$ 396,874	$ 394,587
Convertible Debt | Convertible Senior Notes Due 2025
Debt Instrument [Line Items]
Principal	23,300	23,300
Less: Unamortized debt issuance costs	(300)	(400)
Net carrying amount	23,000	22,900
Convertible Debt | Convertible Senior Notes Due 2026
Debt Instrument [Line Items]
Principal	380,000	380,000
Less: Unamortized debt issuance costs	(6,100)	(8,300)
Net carrying amount	373,900	371,700
Senior Notes [Member] | Convertible Senior Notes Due 2025
Debt Instrument [Line Items]
Coupon interest	300	300	$ 2,500
Amortization of debt discount (1)	0	0	7,800
Amortization of debt issuance costs	100	100	1,000
Interest expense	400	400	11,300
Senior Notes [Member] | Convertible Senior Notes Due 2026
Debt Instrument [Line Items]
Coupon interest	500	500	100
Amortization of debt discount (1)	0	0	1,700
Amortization of debt issuance costs	2,100	2,100	300
Interest expense	$ 2,600	$ 2,600	$ 2,100