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Debt - Summary of Information about the Equity and Liability Components of Notes (Details) - USD ($)
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Feb. 10, 2020
Apr. 15, 2019
Debt Instrument [Line Items]          
Total long-term portion of notes payable $ 106,851,000   $ 105,844,000    
Convertible Notes          
Debt Instrument [Line Items]          
Principal amount of notes outstanding         $ 80,000,000.0
Contractual interest expense (1,017,000) $ (1,014,000)      
Amortization of debt issuance costs and discount (1,174,000) (958,000)      
Total interest expense (2,191,000) $ (1,972,000)      
Convertible Notes | Convertible Senior Notes due 2024          
Debt Instrument [Line Items]          
Principal amount of notes outstanding 13,750,000        
Unamortized discount (including unamortized debt issuance cost) (2,447,000)        
Total long-term portion of notes payable 11,303,000        
Convertible Notes | Convertible Senior Notes Due 2026          
Debt Instrument [Line Items]          
Principal amount of notes outstanding 120,000,000     $ 120,000,000.0  
Unamortized discount (including unamortized debt issuance cost) (24,984,000)        
Total long-term portion of notes payable $ 95,016,000