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Debt - Components of Interest Expense, Related Fees, Losses on Debt Extinguishment and Cash Paid for Interest Expense for Debt (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | $ 16,682 |  | $ 16,445 |  | $ 44,361 |  | $ 50,705 |
Amortization of debt issuance costs |  | 1,268 |  | 2,772 | [1] | 3,507 |  | 6,532 | [1]
Interest Expense Debt |  | 14,499 | [2] | 13,069 | [2] | 38,844 | [3] | 42,309 | [2]
Cash paid for interest expense |  | 21,740 |  | 16,274 |  | 44,382 |  | 44,985 |
Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 915 |  | 604 |  | 2,010 |  | 1,864 |
SBA Debentures |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 1,308 |  | 164 |  | 3,282 |  | 1,595 |
Amortization of debt issuance costs |  | 148 |  | 50 | [1] | 434 |  | 367 | [1]
Interest Expense Debt |  | 1,160 | [3] | 114 | [2] | 2,848 | [3] | 1,228 | [2]
Cash paid for interest expense |  | 2,086 |  | 183 |  | 2,835 |  | 2,272 |
SBA Debentures | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
2022 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 0 |  | 1,866 |  | 1,061 |  | 5,597 |
Amortization of debt issuance costs |  | 0 |  | 90 | [1] | 50 |  | 270 | [1]
Interest Expense Debt |  | 0 | [4] | 1,776 | [2] | 1,011 | [3] | 5,327 | [2]
Cash paid for interest expense |  | 0 |  | 0 |  | 2,293 |  | 3,469 |
2022 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
July 2024 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 1,326 |  | 1,326 |  | 3,978 |  | 3,977 |
Amortization of debt issuance costs |  | 74 |  | 74 | [1] | 222 |  | 221 | [1]
Interest Expense Debt |  | 1,252 | [3] | 1,252 | [2] | 3,756 | [3] | 3,756 | [2]
Cash paid for interest expense |  | 2,504 |  | 2,504 |  | 5,008 |  | 5,008 |
July 2024 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
February 2025 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 564 |  | 564 |  | 1,691 |  | 1,691 |
Amortization of debt issuance costs |  | 29 |  | 29 | [1] | 86 |  | 86 | [1]
Interest Expense Debt |  | 535 | [3] | 535 | [2] | 1,605 | [3] | 1,605 | [2],[5]
Cash paid for interest expense |  | 1,070 |  | 1,070 |  | 2,140 |  | 2,140 |
February 2025 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
June 2025 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 794 |  | 794 |  | 2,384 |  | 2,384 |
Amortization of debt issuance costs |  | 40 |  | 40 | [1] | 121 |  | 121 | [1]
Interest Expense Debt |  | 754 | [3] | 754 | [2] | 2,263 | [3] | 2,263 | [2]
Cash paid for interest expense |  | 0 |  | 0 |  | 1,509 |  | 1,509 |
June 2025 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
June 2025 3-Year Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 788 |  |  |  | 859 |  |  |
Amortization of debt issuance costs |  | 38 |  |  |  | 42 |  |  |
Interest Expense Debt | [3] | 750 |  |  |  | 817 |  |  |
Cash paid for interest expense |  | 0 |  |  |  | 0 |  |  |
June 2025 3-Year Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  |  |  | 0 |  |  |
March 2026 A Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 587 |  | 587 |  | 1,760 |  | 1,758 |
Amortization of debt issuance costs |  | 24 |  | 24 | [1] | 72 |  | 70 | [1]
Interest Expense Debt |  | 563 | [3] | 563 | [2] | 1,688 | [3] | 1,688 | [2]
Cash paid for interest expense |  | 1,125 |  | 1,125 |  | 2,250 |  | 1,875 |
March 2026 A Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
March 2026 B Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 595 |  | 595 |  | 1,784 |  | 1,367 |
Amortization of debt issuance costs |  | 26 |  | 26 | [1] | 78 |  | 59 | [1]
Interest Expense Debt |  | 569 | [3] | 569 | [2] | 1,706 | [3] | 1,308 | [2]
Cash paid for interest expense |  | 1,137 |  | 1,138 |  | 2,275 |  | 1,138 |
March 2026 B Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
September 2026 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 2,378 |  | 370 |  | 7,135 |  | 370 |
Amortization of debt issuance costs |  | 204 |  | 32 | [1] | 612 |  | 32 | [1]
Interest Expense Debt |  | 2,174 | [3] | 338 | [2] | 6,523 | [3] | 338 | [2]
Cash paid for interest expense |  | 4,266 |  | 0 |  | 8,532 |  | 0 |
September 2026 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
January 2027 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 3,286 |  |  |  | 9,127 |  |  |
Amortization of debt issuance costs |  | 207 |  |  |  | 575 |  |  |
Interest Expense Debt | [3] | 3,079 |  |  |  | 8,552 |  |  |
Cash paid for interest expense |  | 5,906 |  |  |  | 5,906 |  |  |
January 2027 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  |  |  | 0 |  |  |
2031 Asset-Backed Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 2,003 |  |  |  | 2,181 |  |  |
Amortization of debt issuance costs |  | 100 |  |  |  | 109 |  |  |
Interest Expense Debt |  | 1,903 | [2] |  |  | 2,072 | [3] |  |
Cash paid for interest expense |  | 1,815 |  |  |  | 1,815 |  |  |
2031 Asset-Backed Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  |  |  | 0 |  |  |
2033 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 652 |  | 652 |  | 1,956 |  | 1,956 |
Amortization of debt issuance costs |  | 27 |  | 27 | [1] | 81 |  | 81 | [1]
Interest Expense Debt |  | 625 | [2] | 625 | [2] | 1,875 | [3] | 1,875 | [2]
Cash paid for interest expense |  | 625 |  | 625 |  | 1,875 |  | 1,875 |
2033 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
2022 Convertible Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 0 |  | 2,906 |  | 1,072 |  | 8,719 |
Amortization of debt issuance costs |  | 0 |  | 223 | [1] | 149 |  | 669 | [1]
Interest Expense Debt |  | 0 | [2] | 2,683 | [2] | 923 | [3] | 8,050 | [2]
Cash paid for interest expense |  | 0 |  | 5,031 |  | 5,004 |  | 10,062 |
2022 Convertible Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
MUFG Bank Facility |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 1,973 | [6] | 1,062 | [7] | 4,830 | [6] | 2,997 | [7]
Amortization of debt issuance costs |  | 253 | [4] | 314 | [1],[7] | 665 | [6] | 968 | [1],[7]
Interest Expense Debt |  | 1,000 | [2],[4] | 290 | [2],[7] | 2,483 | [3],[6] | 625 | [2],[7]
Cash paid for interest expense |  | 1,025 | [6] | 327 | [7] | 2,240 | [6] | 540 | [7]
MUFG Bank Facility | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 720 | [6] | 458 | [7] | 1,682 | [6] | 1,404 | [7]
SMBC Facility |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total |  | 428 |  |  |  | 1,261 |  |  |
Amortization of debt issuance costs |  | 98 |  |  |  | 211 |  |  |
Interest Expense Debt |  | 135 | [2] |  |  | 722 | [3] |  |
Cash paid for interest expense |  | 181 |  |  |  | 700 |  |  |
SMBC Facility | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | $ 195 |  |  |  | $ 328 |  |  |
April 2025 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total | [5] |  |  | 1,477 |  |  |  | 3,636 |
Amortization of debt issuance costs | [1],[5] |  |  | 1,477 |  |  |  | 1,667 |
Interest Expense Debt |  |  |  | 0 |  |  |  | 1,969 | [2],[5]
Cash paid for interest expense | [5] |  |  | 667 |  |  |  | 2,635 |
April 2025 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  |  |  | 0 |  |  |  | 0 |
2027 Asset-Backed Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total | [5] |  |  | 1,416 |  |  |  | 5,515 |
Amortization of debt issuance costs | [1],[5] |  |  | 72 |  |  |  | 922 |
Interest Expense Debt | [2],[5] |  |  | 1,344 |  |  |  | 4,593 |
Cash paid for interest expense | [5] |  |  | 1,348 |  |  |  | 4,677 |
2027 Asset-Backed Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  |  |  | 0 |  |  |  | 0 |
2028 Asset-Backed Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total | [5] |  |  | 2,477 |  |  |  | 8,551 |
Amortization of debt issuance costs | [1],[5] |  |  | 251 |  |  |  | 867 |
Interest Expense Debt | [2],[5] |  |  | 2,226 |  |  |  | 7,684 |
Cash paid for interest expense | [5] |  |  | 2,256 |  |  |  | 7,785 |
2028 Asset-Backed Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  |  |  | 0 |  |  |  | 0 |
Wells Facility |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest Expense, Total | [5] |  |  | 189 |  |  |  | 592 |
Amortization of debt issuance costs | [1],[5] |  |  | 43 |  |  |  | 132 |
Interest Expense Debt |  |  |  | 0 |  |  |  | 0 |
Cash paid for interest expense |  |  |  | 0 |  |  |  | 0 |
Wells Facility | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) | [5] |  |  | $ 146 |  |  |  | $ 460 |
[1] | “Amortization of debt issuance cost (loan fees)” includes $1,477 thousand, $28 thousand, and $197 thousand related to debt extinguishment costs for the April 2025 Notes, 2027 Asset-Backed Notes, and 2028 Asset-Backed Notes, respectively during both the three and nine months ended September 30, 2021 disclosed as a “Loss on debt extinguishment” in the Consolidated Statement of Operations.
[2] | Interest expense includes amortization of original issue discounts for the three months ended September 30, 2021 of $41 thousand, $168 thousand, and $6 thousand, for the 2022 Notes, 2022 Convertible Notes, and September 2026 Notes, respectively. Interest expense includes for the nine months ended September 30, 2021, $123 thousand, $504 thou sand, and $6 thousand for the 2022 Notes, 2022 Convertible Notes, and September 2026 Notes, respectively.
[3] | Interest expense includes amortization of original issue discounts for the three months ended September 30, 2022 of $42 thousand, $126 thousand, and $47 thousand related to the September 2026 Notes, January 2027 Notes, and 2031 Asset-Backed Notes, respectively. For the nine months ended September 30, 2022, $23 thousand, $112 thousand, $125 thousand, $349 thousand, and $51 thousand related to the 2022 Notes, 2022 Convertible Notes, September 2026 Notes, January 2027 Notes, and 2031 Asset-Backed Notes, respectively.
[4] | The June 2022 amendment of the MUFG Bank Facility replaced the Union Bank Facility via an amendment which changed the lead lender.
[5] | The April 2025 Notes, 2027 Asset-Backed Notes and 2028 Asset-Backed Notes were retired on July 1, 2021 and October 20, 2021, respectively. The Wells Facility was terminated on November 29, 2021.
[6] | The June 2022 amendment of the MUFG Bank Facility replaced the Union Bank Facility via an amendment which changed the lead lender.
[7] | The June 2022 amendment of the MUFG Bank Facility replaced the Union Bank Facility via an amendment which changed the lead lender.

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