Debt - Schedule of Interest Expense from Convertible Debt (Details) - Convertible notes - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Contractual interest expense	$ 335	$ 8,625	$ 8,625
Amortization of underwriter's discount and deferred charges	103	2,571	2,372
Total	$ 438	$ 11,196	$ 10,997