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Debt - Schedule of Interest Expense (Details) - Convertible Debt - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Total interest expense $ 8,391 $ 8,391 $ 6,446
2021 Notes      
Debt Instrument [Line Items]      
Total interest expense 4,400 4,400 2,411
2020 Notes      
Debt Instrument [Line Items]      
Total interest expense 2,006 2,006 2,006
2019 Notes      
Debt Instrument [Line Items]      
Total interest expense 1,985 1,985 1,985
2018 Notes      
Debt Instrument [Line Items]      
Total interest expense $ 0 $ 0 $ 44