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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 | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | $ 17,184 | [1] | $ 12,698 | [2] | $ 33,809 | [1] | $ 24,345 | [2]
Amortization of debt issuance cost (loan fees) |  | 1,537 |  | 1,029 |  | 3,046 |  | 2,239 | [3]
Total interest expense and fees |  | 19,648 |  | 14,190 |  | 38,602 |  | 27,679 |
Cash paid for interest expense |  | 9,824 |  | 3,632 |  | 33,664 |  | 22,642 |
Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 927 |  | 463 |  | 1,747 |  | 1,095 |
SBA Debentures |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 1,137 | [1] | 1,138 | [2] | 2,262 | [1] | 1,688 | [2]
Amortization of debt issuance cost (loan fees) |  | 146 |  | 146 |  | 290 |  | 286 | [3]
Total interest expense and fees |  | 1,283 |  | 1,284 |  | 2,552 |  | 1,974 |
Cash paid for interest expense |  | 0 |  | 0 |  | 2,262 |  | 749 |
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 | [2],[3] |  |  | 0 |  |  |  | 1,011 |
Amortization of debt issuance cost (loan fees) | [3] |  |  | 0 |  |  |  | 50 |
Total interest expense and fees | [3] |  |  | 0 |  |  |  | 1,061 |
Cash paid for interest expense | [3] |  |  | 0 |  |  |  | 2,293 |
2022 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) | [3] |  |  | 0 |  |  |  | 0 |
July 2024 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 1,252 | [1] | 1,252 | [2] | 2,504 | [1] | 2,504 | [2]
Amortization of debt issuance cost (loan fees) |  | 74 |  | 74 |  | 148 |  | 148 | [3]
Total interest expense and fees |  | 1,326 |  | 1,326 |  | 2,652 |  | 2,652 |
Cash paid for interest expense |  | 0 |  | 0 |  | 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 |  | 0 |  | 0 |
February 2025 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 535 | [1] | 535 | [2] | 1,070 | [1] | 1,070 | [2]
Amortization of debt issuance cost (loan fees) |  | 28 |  | 28 |  | 57 |  | 57 | [3]
Total interest expense and fees |  | 563 |  | 563 |  | 1,127 |  | 1,127 |
Cash paid for interest expense |  | 0 |  | 0 |  | 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 |  | 0 |  | 0 |
June 2025 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 755 | [1] | 755 | [2] | 1,509 | [1] | 1,509 | [2]
Amortization of debt issuance cost (loan fees) |  | 41 |  | 41 |  | 81 |  | 81 | [3]
Total interest expense and fees |  | 796 |  | 796 |  | 1,590 |  | 1,590 |
Cash paid for interest expense |  | 1,509 |  | 1,509 |  | 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 |  | 750 | [1] | 67 | [2] | 1,500 | [1] | 67 | [2]
Amortization of debt issuance cost (loan fees) |  | 39 |  | 4 |  | 78 |  | 4 | [3]
Total interest expense and fees |  | 789 |  | 71 |  | 1,578 |  | 71 |
Cash paid for interest expense |  | 1,500 |  | 0 |  | 1,500 |  | 0 |
June 2025 3-Year Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
March 2026 A Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 562 | [1] | 562 | [2] | 1,125 | [1] | 1,125 | [2]
Amortization of debt issuance cost (loan fees) |  | 23 |  | 24 |  | 47 |  | 48 | [3]
Total interest expense and fees |  | 585 |  | 586 |  | 1,172 |  | 1,173 |
Cash paid for interest expense |  | 0 |  | 0 |  | 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 |  | 0 |  | 0 |
March 2026 B Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 568 | [1] | 568 | [2] | 1,137 | [1] | 1,137 | [2]
Amortization of debt issuance cost (loan fees) |  | 26 |  | 26 |  | 52 |  | 52 | [3]
Total interest expense and fees |  | 594 |  | 594 |  | 1,189 |  | 1,189 |
Cash paid for interest expense |  | 0 |  | 0 |  | 1,138 |  | 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 |  | 2,175 | [1] | 2,175 | [2] | 4,349 | [1] | 4,349 | [2]
Amortization of debt issuance cost (loan fees) |  | 204 |  | 204 |  | 408 |  | 408 | [3]
Total interest expense and fees |  | 2,379 |  | 2,379 |  | 4,757 |  | 4,757 |
Cash paid for interest expense |  | 0 |  | 0 |  | 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 |  | 0 |  | 0 |
January 2027 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 3,078 | [1] | 3,078 | [2] | 6,157 | [1] | 5,473 | [2]
Amortization of debt issuance cost (loan fees) |  | 207 |  | 207 |  | 414 |  | 368 | [3]
Total interest expense and fees |  | 3,285 |  | 3,285 |  | 6,571 |  | 5,841 |
Cash paid for interest expense |  | 0 |  |  |  | 5,906 |  | 0 |
January 2027 Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
2031 Asset-Backed Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 1,904 | [1] | 169 | [2] | 3,807 | [1] | 169 | [2]
Amortization of debt issuance cost (loan fees) |  | 100 |  | 9 |  | 200 |  | 9 | [3]
Total interest expense and fees |  | 2,004 |  | 178 |  | 4,007 |  | 178 |
Cash paid for interest expense |  | 1,857 |  | 0 |  | 3,713 |  | 0 |
2031 Asset-Backed Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 0 |  | 0 |  | 0 |  | 0 |
2033 Notes |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 625 | [1] | 625 | [2] | 1,250 | [1] | 1,250 | [2]
Amortization of debt issuance cost (loan fees) |  | 27 |  | 27 |  | 54 |  | 54 | [3]
Total interest expense and fees |  | 652 |  | 652 |  | 1,304 |  | 1,304 |
Cash paid for interest expense |  | 625 |  | 625 |  | 1,250 |  | 1,250 |
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 | [3] |  |  | 0 |  |  |  | 923 | [2]
Amortization of debt issuance cost (loan fees) | [3] |  |  | 0 |  |  |  | 149 |
Total interest expense and fees | [3] |  |  | 0 | [2] |  |  | 1,072 |
Cash paid for interest expense | [3] |  |  | 0 |  |  |  | 5,004 |
2022 Convertible Notes | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) | [3] |  |  | 0 |  |  |  | 0 |
MUFG Bank Facility |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 1,363 | [1],[4] | 1,369 | [2],[5] | 3,076 | [1],[4] | 1,483 | [2],[5]
Amortization of debt issuance cost (loan fees) |  | 442 | [4] | 175 | [5] | 884 | [4] | 412 | [3],[5]
Total interest expense and fees |  | 2,496 | [4] | 1,939 | [5] | 5,268 | [4] | 2,857 | [5]
Cash paid for interest expense |  | 1,595 | [4] | 1,215 | [5] | 3,433 | [4] | 1,215 | [5]
MUFG Bank Facility | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | 691 | [4] | 395 | [5] | 1,308 | [4] | 962 | [5]
SMBC Facility |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Interest expense |  | 2,480 | [1] | 405 | [2] | 4,063 | [1] | 587 | [2]
Amortization of debt issuance cost (loan fees) |  | 180 |  | 64 |  | 333 |  | 113 | [3]
Total interest expense and fees |  | 2,896 |  | 537 |  | 4,835 |  | 833 |
Cash paid for interest expense |  | 2,738 |  | 283 |  | 3,988 |  | 519 |
SMBC Facility | Unused Facility Other Fees [Member] |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |
Unused facility and other fees (loan fees) |  | $ 236 |  | $ 68 |  | $ 439 |  | $ 133 |
[1] | Interest expense includes amortization of original issue discounts for the three months ended June 30, 2023 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 six months ended June 30, 2023, $83 thousand, $251 thousand, and $94 thousand, related to the September 2026 Notes, January 2027 Notes, and 2031 Asset-Backed Notes, respectively.
[2] | Interest expense includes amortization of original issue discounts for the three months ended June 30, 2022 of $42 thousand, $126 thousand, and $4 thousand related to the September 2026 Notes, January 2027 Notes, and 2031 Asset-Backed Notes, respectively. For the six months ended June 30, 2022, $23 thousand, $112 thousand, $84 thousand, $223 thousand, and $4 thousand, related to the 2022 Notes, 2022 Convertible Notes, September 2026 Notes, January 2027 Notes, and 2031 Asset-Backed Notes, respectively.
[3] | In February 2022, the Company has fully repaid the aggregate outstanding principal balances and retired 2022 Notes and 2022 Convertible Notes.
[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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