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Convertible Senior Notes - Narratives (Details) $ / shares in Units, $ in Thousands |  |  | 1 Months Ended | 2 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Jan. 07, 2021 shares | May 18, 2020 USD ($) D $ / shares | May 31, 2020 USD ($) | Feb. 28, 2021 shares | Dec. 31, 2023 USD ($) shares | Dec. 31, 2022 USD ($) shares | Dec. 31, 2021 USD ($) shares | Dec. 31, 2020 USD ($) shares | May 29, 2020 USD ($) | Mar. 31, 2018 USD ($)
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Net proceeds |  |  |  |  | $ 104,251 | $ 122,886 | $ 108,925 |  |  |
Conversion of convertible senior notes to common stock |  |  |  |  |  |  | $ 15,345 |  |  |
Long-term borrowings |  |  |  |  | 3,900 |  |  |  |  |
Carrying amount of the liability component |  |  |  |  | $ 5,457 |  |  |  |  |
Gain/(loss) on extinguishment of debt |  |  |  |  |  | (986) |  |  |  |
Common stock shares issued | shares |  |  |  | 32,200,000 |  |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Effective interest rate (as a percent) |  |  |  |  | 5.60% |  |  |  |  |
Maximum |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Effective interest rate (as a percent) |  |  |  |  | 8.30% |  |  |  |  |
3.75% Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Principal amount |  | $ 200,000 | $ 212,463 |  | $ 197,278 | 197,278 |  |  | $ 12,500 |
Interest rate (as a percent) |  | 3.75% | 3.75% |  |  |  | 3.75% | 3.75% | 3.75% | 3.75%
Net proceeds |  |  | $ 189,219 |  |  |  |  |  |  |
Conversion of convertible senior notes to common stock |  |  |  |  | $ 0 | $ 0 |  |  |  |
Conversion of notes through common stock issuance (in shares) | shares |  |  |  |  | 0 | 0 | 3,000,000.0 |  |  |
Conversion of convertible senior notes to common stock |  |  |  |  |  |  | $ 15,200 |  |  |
Maturity principal amount |  | $ 1 |  |  |  |  |  |  |  |
Conversion rates for the notes (in shares) |  | 198.6196 |  |  |  |  |  |  |  |
Conversion price, per share | $ / shares |  | $ 5.03 |  |  |  |  |  |  |  |
Trading days | D |  | 20 |  |  |  |  |  |  |  |
Consecutive trading days | D |  | 30 |  |  |  |  |  |  |  |
Conversion price (as a percent) |  | 130.00% |  |  |  |  |  |  |  |
Number of business days |  | 5 days |  |  |  |  |  |  |  |
Number of consecutive trading days |  | 5 days |  |  |  |  |  |  |  |
Principal amount (as a percent) |  | 98.00% |  |  |  |  |  |  |  |
Percentage of principal amount to be redeemed |  | 100.00% |  |  |  |  |  |  |  |
Effective interest rate (as a percent) |  |  |  |  | 4.60% | 4.50% |  |  |  |
Transaction costs for issuance |  | $ 7,000 |  |  |  |  |  |  |  |
Initial purchasers' discount |  | 6,400 |  |  |  |  |  |  |  |
Other issuance costs |  | $ 600 | $ 617 |  |  |  |  |  |  |
Fair value of convertible senior notes |  |  |  |  | $ 213,200 |  |  |  |  |
3.75% Convertible Senior Notes | Minimum |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Redemption notice days |  | 1 day |  |  |  |  |  |  |  |
3.75% Convertible Senior Notes | Maximum |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Redemption notice days |  | 3 days |  |  |  |  |  |  |  |
5.5% Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Convertible Senior Notes |  |  |  |  |  |  |  |  |  |
Principal amount |  |  |  |  |  |  |  |  |  | $ 100,000
Interest rate (as a percent) | 5.50% |  |  |  |  |  | 5.50% | 5.50% |  | 5.50%
Aggregate repurchase of debt |  |  |  |  |  |  |  | $ 66,300 |  |
Conversion of convertible senior notes to common stock |  |  |  |  |  |  |  | $ 33,500 |  |
Conversion of notes through common stock issuance (in shares) | shares | 69,808 |  |  |  |  |  |  | 14,600,000 |  |

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