I have found the following theorem that is often cited from the text Convex Figures by Yaglom and Boltyanskii:
A bounded figure in $\mathbb{R}^2$ is convex iff every straight line passing through an arbitrary interior point of the figure intersects the boundary of the figure in exactly two points.
I cannot find the text, nor a proof of this statement, but it seems like it would generalize to higher dimensions. Is this true?