Convertible Senior Notes (Details) $ / shares in Units, $ in Thousands			3 Months Ended			6 Months Ended
	Nov. 06, 2020 USD ($)	Oct. 17, 2018 USD ($) D $ / shares	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)	Dec. 31, 2019 USD ($)	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)	Nov. 30, 2023	Dec. 31, 2022 USD ($) $ / shares	Mar. 31, 2020 USD ($)
Convertible Notes
Common stock, par value (in dollars per share) | $ / shares			$ 0.0001			$ 0.0001			$ 0.0001
Initial conversion rate		11.6314
Percentage price of principal amount to be purchased plus accrued and unpaid interest			100.00%			100.00%
Other Nonoperating Income (Expenses)			$ (40)	$ 6		$ (47)	$ 34
Notes outstanding			39,739			39,739			$ 24,526
Debt, carrying value			$ 40,000			$ 40,000			25,000
2018 Notes principle balance
Convertible Notes
Aggregate principal amount		$ 150,000
Interest rate (as a percent)		5.00%	5.00%			5.00%		15.65%
Net proceeds		$ 145,300
Common stock, par value (in dollars per share) | $ / shares		$ 0.0001
Percentage of stock price trigger for conversion		130.00%
Trading days | D		20
Consecutive trading days | D		30
Debt, carrying value			$ 300			$ 300			$ 300
2019 Notes
Convertible Notes
Debt Conversion, Original Debt, Amount					$ 121,700
Debt Conversion, Converted Instrument, Amount					66,900
Repayments of Convertible Debt					$ 12,100
Interest rate (as a percent)					5.00%
Debt, carrying value										$ 0
2018 Notes, net
Convertible Notes
Aggregate principal amount	$ 28,000
Debt Conversion, Converted Instrument, Amount	$ 28,000
Interest rate (as a percent)	5.00%