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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Long-term debt      
Amortization of debt issuance costs $ 1,873 $ 1,901 $ 1,848
Effective interest rate of the liability component 10.80%    
Convertible debt | 3.00% Convertible senior notes due 2022      
Long-term debt      
Contractual interest expense   2,800  
Amortization of debt issuance costs   460  
Total   $ 3,260  
Effective interest rate of the liability component   3.50%  
Convertible debt | 1.50% Convertible senior notes due 2026      
Long-term debt      
Contractual interest expense $ 4,305 $ 4,313  
Amortization of debt issuance costs 1,171 1,150  
Total $ 5,476 $ 5,463  
Effective interest rate of the liability component 1.90% 1.90%