Debt - Narrative (Details)				1 Months Ended	3 Months Ended			6 Months Ended	9 Months Ended
	Jan. 01, 2024	Dec. 15, 2022 USD ($)	Dec. 30, 2020 USD ($)	Jun. 30, 2021 USD ($) $ / shares shares	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Mar. 31, 2021 USD ($)	Dec. 31, 2023 USD ($)	Sep. 30, 2023 USD ($) d	Sep. 30, 2022 USD ($)	Sep. 26, 2023 USD ($)	Jun. 29, 2023 USD ($)	Dec. 31, 2022 USD ($)
Debt Instrument [Line Items]
Issuance of letter of credit									$ 2,128,000	$ 5,000,000
Debt issuance cost		$ 200,000
Outstanding borrowings					$ 157,061,000				157,061,000				$ 152,253,000
Unused borrowing capacity					700,000				$ 700,000
Convertible Notes
Debt Instrument [Line Items]
Aggregate principal amount				$ 150,000,000
Interest rate				8.50%
Shares convertible (in shares) | shares				12,000,000
Initial conversion price (in dollars per share) | $ / shares				$ 12.50
Volume-weighted average trading price as percentage of conversion price									130.00%
Number of trading days | d									20
Number of consecutive trading days | d									30
Term for calculating amount of interest declining ratably									1 year
Term for calculating amount of interest on the aggregate principal amount									3 years
Repurchase price as percentage of par plus accrued and unpaid interest									101.00%
Derivative liability					$ 31,600,000				$ 31,600,000
Effective interest rate					15.00%				15.00%
Interest expense					$ 4,800,000	$ 4,500,000			$ 14,100,000	13,400,000
Amortization of debt discount and issuance costs					1,600,000	$ 1,400,000			4,500,000	$ 3,900,000
Fair value of the notes					110,000,000				$ 110,000,000				99,800,000
Convertible Notes | Debt Conversion Terms One
Debt Instrument [Line Items]
Term for calculating amount of interest declining ratably									18 months
Term for calculating amount of interest on the aggregate principal amount									12 months
Convertible Notes | Debt Conversion Terms Two
Debt Instrument [Line Items]
Term for calculating amount of interest declining ratably									12 months
Term for calculating amount of interest on the aggregate principal amount									0 days
Revolving Credit Facility
Debt Instrument [Line Items]
Debt instrument term			3 years
Maximum borrowing capacity			$ 50,000,000
Percentage of qualifying investment grade accounts receivable			95.00%
Percentage of qualifying non-investment grade accounts receivable			90.00%
Debt issuance cost					600,000				$ 600,000		$ 100,000	$ 200,000	400,000
Debt instrument, covenants, liquidity threshold			$ 25,000,000		25,000,000				25,000,000
Outstanding borrowings					33,800,000				33,800,000				33,500,000
Letter of credit outstanding					15,500,000				15,500,000				15,500,000
Unused borrowing capacity					700,000				$ 700,000				$ 1,000,000
Revolving Credit Facility | Forecast
Debt Instrument [Line Items]
Debt instrument, overadvance, maximum								$ 7,400,000
Revolving Credit Facility | Minimum
Debt Instrument [Line Items]
Early termination fee, percentage		0.50%
Revolving Credit Facility | Minimum | Forecast
Debt Instrument [Line Items]
Margin rate, percentage	3.75%							4.50%
Revolving Credit Facility | Maximum
Debt Instrument [Line Items]
Early termination fee, percentage		2.00%
Revolving Credit Facility | Maximum | Forecast
Debt Instrument [Line Items]
Margin rate, percentage	4.25%							5.00%
Revolving Credit Facility | Secured Overnight Financing Rate (SOFR)
Debt Instrument [Line Items]
Margin rate, percentage									9.00%
Debt instrument floor rate									0.75%
Minimum monthly average utilization of debt					$ 15,000,000				$ 15,000,000
Percentage of fee on unused commitments									0.375%
Standby letters of credit
Debt Instrument [Line Items]
Maximum borrowing capacity			$ 15,500,000
Issuance of letter of credit							$ 15,500,000