Convertible Senior Notes - Components (Details) - USD ($)		1 Months Ended	3 Months Ended
	Mar. 12, 2024	Mar. 31, 2024	Mar. 31, 2024	Mar. 31, 2023	Mar. 21, 2024	Mar. 20, 2024	Dec. 31, 2023	May 31, 2020	May 29, 2020	May 18, 2020
Convertible Senior Notes
Unamortized debt discount		$ (1,400,000)	$ (1,400,000)
Net carrying amount		$ 209,802,000	$ 209,802,000				$ 195,264,000
Interest rate (as a percent)		7.00%	7.00%
3.75% Convertible Senior Notes
Convertible Senior Notes
Principal amount		$ 58,462,000	$ 58,462,000		$ 58,500,000		197,278,000	$ 212,500,000	$ 12,500,000	$ 200,000,000.0
Unamortized debt issuance costs		(496,000)	(496,000)				(2,014,000)
Net carrying amount		$ 57,966,000	$ 57,966,000				$ 195,264,000
Interest rate (as a percent)	3.75%	3.75%	3.75%	3.75%	3.75%	3.75%		3.75%	3.75%	3.75%
Conversion of convertible senior notes to common stock	$ 138,800,000	$ 138,800,000
7.0% Convertible Senior Note
Convertible Senior Notes
Principal amount	$ 140,400,000	140,396,000	$ 140,396,000			$ 140,400,000
Unamortized debt premium, net of offering costs		11,440,000	11,440,000
Net carrying amount		$ 151,836,000	$ 151,836,000
Interest rate (as a percent)	7.00%	7.00%	7.00%			7.00%
Conversion of convertible senior notes to common stock			$ 0	$ 0