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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
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Mar. 31, 2023 | Mar. 31, 2022
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | $ 18,954 |  | $ 13,489 |
Amortization of debt issuance costs |  | 1,509 |  | 1,210 |
Interest Expense Debt | [1] | 16,625 |  | 11,647 |
Cash paid for interest expense |  | 23,840 |  | 19,010 |
Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 820 |  | 632 |
SBA Debentures |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 1,269 |  | 690 |
Amortization of debt issuance costs |  | 144 |  | 140 |
Interest Expense Debt | [1] | 1,125 |  | 550 |
Cash paid for interest expense |  | 2,262 |  | 749 |
SBA Debentures | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
2022 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total | [2] |  |  | 1,061 |
Amortization of debt issuance costs | [2] |  |  | 50 |
Interest Expense Debt | [1],[2] |  |  | 1,011 |
Cash paid for interest expense | [2] |  |  | 2,293 |
2022 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) | [2] |  |  | 0 |
July 2024 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 1,326 |  | 1,326 |
Amortization of debt issuance costs |  | 74 |  | 74 |
Interest Expense Debt | [1] | 1,252 |  | 1,252 |
Cash paid for interest expense |  | 2,504 |  | 2,504 |
July 2024 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
February 2025 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 564 |  | 564 |
Amortization of debt issuance costs |  | 29 |  | 29 |
Interest Expense Debt | [1] | 535 |  | 535 |
Cash paid for interest expense |  | 1,070 |  | 1,070 |
February 2025 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
June 2025 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 794 |  | 794 |
Amortization of debt issuance costs |  | 40 |  | 40 |
Interest Expense Debt | [1] | 754 |  | 754 |
Cash paid for interest expense |  | 0 |  | 0 |
June 2025 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
June 2025 3-Year Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 789 |  |  |
Amortization of debt issuance costs |  | 39 |  |  |
Interest Expense Debt | [3] | 750 |  |  |
Cash paid for interest expense |  | 0 |  |  |
June 2025 3-Year Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  |  |
March 2026 A Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 587 |  | 587 |
Amortization of debt issuance costs |  | 24 |  | 24 |
Interest Expense Debt | [1] | 563 |  | 563 |
Cash paid for interest expense |  | 1,125 |  | 1,125 |
March 2026 A Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
March 2026 B Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 595 |  | 595 |
Amortization of debt issuance costs |  | 26 |  | 26 |
Interest Expense Debt | [1] | 569 |  | 569 |
Cash paid for interest expense |  | 1,139 |  | 1,138 |
March 2026 B Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
September 2026 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 2,378 |  | 2,378 |
Amortization of debt issuance costs |  | 204 |  | 204 |
Interest Expense Debt | [1] | 2,174 |  | 2,174 |
Cash paid for interest expense |  | 4,266 |  | 4,266 |
September 2026 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
January 2027 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 3,286 |  | 2,556 |
Amortization of debt issuance costs |  | 207 |  | 161 |
Interest Expense Debt | [1] | 3,079 |  | 2,395 |
Cash paid for interest expense |  | 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 |  |  |
Amortization of debt issuance costs |  | 100 |  |  |
Interest Expense Debt | [1] | 1,903 |  |  |
Cash paid for interest expense |  | 1,856 |  |  |
2031 Asset-Backed Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  |  |
2033 Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 652 |  | 652 |
Amortization of debt issuance costs |  | 27 |  | 27 |
Interest Expense Debt | [1] | 625 |  | 625 |
Cash paid for interest expense |  | 625 |  | 625 |
2033 Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |
2022 Convertible Notes |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total | [2] |  |  | 1,072 |
Amortization of debt issuance costs | [2] |  |  | 149 |
Interest Expense Debt | [1],[2] |  |  | 923 |
Cash paid for interest expense | [2] |  |  | 5,004 |
2022 Convertible Notes | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) | [2] |  |  | 0 |
MUFG Bank Facility |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 2,772 | [4] | 918 | [5]
Amortization of debt issuance costs |  | 442 | [4] | 237 | [5]
Interest Expense Debt | [1] | 1,713 | [4] | 114 | [5]
Cash paid for interest expense |  | 1,837 | [4] | 0 | [5]
MUFG Bank Facility | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | 617 | [4] | 567 | [5]
SMBC Facility |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Interest Expense, Total |  | 1,939 |  | 296 |
Amortization of debt issuance costs |  | 153 |  | 49 |
Unused facility and other fees (loan fees) |  |  |  | 65 |
Interest Expense Debt | [1] | 1,583 |  | 182 |
Cash paid for interest expense |  | 1,250 |  | $ 236 |
SMBC Facility | Unused Facility Other Fees [Member] |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |
Unused facility and other fees (loan fees) |  | $ 203 |  |  |
[1] | Interest expense includes amortization of original issue discounts for the three months ended March 31, 2022 of $23 thousand, $112 thousand, $42 thousand, and $98 thousand, related to the 2022 Notes, 2022 Convertible Notes, September 2026 Notes, and January 2027 Notes, respectively.
[2] | In February 2022, the Company has fully repaid the aggregate outstanding principal balances and retired 2022 Notes and 2022 Convertible Notes.
[3] | Interest expense includes amortization of original issue discounts for the three months ended March 31, 2023 of $42 thousand, $126 thousand, and $47 thousand related to the 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 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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- Definition Amount of the cost of borrowed funds accounted for as interest expense. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 20 -Section 50 -Paragraph 1 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=6450988&loc=d3e26243-108391 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 835 -SubTopic 30 -Section 45 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=124435984&loc=d3e28555-108399 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 280 -SubTopic 10 -Section 50 -Paragraph 22 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=126901519&loc=d3e8736-108599 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (210.5-03(11)) -URI https://asc.fasb.org/extlink&oid=126953954&loc=SL114868664-224227 Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 220 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-04.9) -URI https://asc.fasb.org/extlink&oid=120399700&loc=SL114874048-224260 + Details
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- Definition Amount of cash paid for interest, excluding capitalized interest, classified as operating activity. Includes, but is not limited to, payment to settle zero-coupon bond for accreted interest of debt discount and debt instrument with insignificant coupon interest rate in relation to effective interest rate of borrowing attributable to accreted interest of debt discount. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=126999549&loc=d3e4297-108586 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 17 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3367-108585 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 25 -Subparagraph (e) -URI https://asc.fasb.org/extlink&oid=126954810&loc=d3e3536-108585 + Details
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