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Convertible Senior Notes, Net - Schedule of Net Carrying Amount of Liability Component of Notes (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Mar. 31, 2021
Jun. 30, 2020
2025 Convertible senior notes        
Debt Disclosure [Line Items]        
Principal $ 172,500 $ 172,500    
Unamortized debt issuance costs (2,262) (3,204)   $ (5,900)
Net carrying amount 170,238 169,296    
2028 Convertible senior notes        
Debt Disclosure [Line Items]        
Principal 287,500 287,500    
Unamortized debt issuance costs (5,970) (6,948) $ (6,300)  
Net carrying amount $ 281,530 $ 280,552