Convertible Senior Notes - Schedule of convertiable note interest expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Debt Disclosure [Abstract]
Contractual interest expense	$ 269	$ 270	$ 808	$ 809
Amortization of debt issuance costs	459	455	1,373	1,360
Total	$ 728	$ 725	$ 2,181	$ 2,169
Debt Instrument, Interest Rate, Effective Percentage	1.00%	1.00%	1.00%	1.00%