Co-sleeper for older baby?

As hard as we’ve tried, our daughter just won’t sleep well in her pack-n-play. Our bedroom is tiny, so our crib won’t fit. I was looking into the co-sleepers that you put in the bed between Mom and Dad. I think it’s a good option for us, but our daughter is now 3 months old and very long. It seems like all of the ones I’ve seen are made more for younger babies in the 0-3 month range. Is there an option for older babies? We aren’t ready to transition her to her crib at night (she can nap there during the day) and we need a safe(r) option. I don’t want her to be directly on the bed.