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Debt - Schedule of Interest Expense related to Debt and Finance Leases (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Debt Instrument [Line Items] |  |  |  |
Amortization of debt issuance costs | $ 1,800 | $ 2,004 | $ 3,651 | $ 3,728
Swap interest income | (710) | (354) | (1,464) | (427)
Total debt interest expense | 20,703 | 20,007 | 41,168 | 39,396
Finance lease interest expense | 564 | 612 | 1,141 | 1,226
Total interest expense | 21,267 | 20,619 | 42,309 | 40,622
Convertible Debt |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Convertible debt contractual interest expense | 2,062 | 2,062 | 4,125 | 4,125
Term Loan |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Convertible debt contractual interest expense | 12,658 | 11,490 | 25,141 | 22,401
Royalty Agreements |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Convertible debt contractual interest expense | $ 4,893 | $ 4,805 | $ 9,715 | $ 9,569

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