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Debt - Convertible Notes Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Long-term debt    
Amortization of debt issuance costs $ 296 $ 438
Effective interest rate of the liability component 10.80%  
1.50% Convertible senior notes due 2026    
Long-term debt    
Contractual interest expense $ 1,076 1,069
Amortization of debt issuance costs 296 288
Total $ 1,372 $ 1,357
Effective interest rate of the liability component 1.90% 1.90%