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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Jul. 31, 2020
Long-term debt        
Amortization of debt issuance costs $ 1,901 $ 1,848 $ 1,020  
Effective interest rate of the liability component 8.70%     11.00%
Convertible debt | 3.00% Convertible senior notes due 2022        
Long-term debt        
Contractual interest expense $ 2,800 4,500    
Amortization of debt issuance costs 460 720    
Total $ 3,260 $ 5,220    
Effective interest rate of the liability component 3.50% 3.50%    
Convertible debt | 1.50% Convertible senior notes due 2026        
Long-term debt        
Contractual interest expense $ 4,313 $ 4,313    
Amortization of debt issuance costs 1,150 1,128    
Total $ 5,463 $ 5,441    
Effective interest rate of the liability component 1.90% 1.90%