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Debt - Schedule of Debt Issuance Costs, Net of accumulated Amortization (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | $ 20,446 | $ 22,642
SBA Debentures |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 4,677 | 5,262
July 2024 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 172 | 467
February 2025 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 134 | 249
June 2025 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 243 | 405
June 2025 3-Year Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 229 | 384
March 2026 A Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 205 | 300
March 2026 B Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 224 | 327
September 2026 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 2,661 | 3,642
January 2027 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 4,065 | 5,396
2031 Asset-Backed Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 1,456 | 2,043
2033 Notes |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 1,065 | 1,174
MUFG Bank Facility |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | 3,540 | 1,292
SMBC Facility |  |
Debt Instrument [Line Items] |  |
Debt issuance cost, net of accumulated amortization | $ 1,775 | $ 1,701

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