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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