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Debt - Summary of Interest Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Debt Disclosure [Abstract]      
Contractual interest expense $ 3,881 $ 3,880 $ 1,444
Amortization of debt discount 8,153 7,901 2,900
Amortization of issuance costs 1,018 988 362
Total interest expense $ 13,052 $ 12,769 $ 4,706