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Long-term Debt - Summary of Outstanding Principal Amount and Carrying Value (Parenthetical) (Details) - USD ($)
1 Months Ended
Jun. 30, 2022
Nov. 30, 2021
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]        
Unamortized debt issuance costs     $ 7,256,000 $ 9,056,000
2019 Convertible Senior Notes due 2026        
Debt Instrument [Line Items]        
Repurchase of debt principal amount $ 9,850,000 $ 76,400,000    
Unamortized debt issuance costs 199,000 1,800,000   217,000
2019 Note Repurchase | 2019 Convertible Senior Notes due 2026        
Debt Instrument [Line Items]        
Repurchase of debt principal amount 9,850,000 $ 76,400,000    
Unamortized debt issuance costs $ 199,000     $ 1,800,000