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Debt - Schedule of Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Debt Instrument [Line Items]    
Total interest expense $ 2,567 $ 1,845
Convertible Senior Notes, Due 2025 | Convertible Debt    
Debt Instrument [Line Items]    
Contractual interest expense 804 934
Amortization of issuance costs 790 908
Total interest expense 1,594 $ 1,842
Convertible Senior Notes, Due 2029 | Convertible Debt    
Debt Instrument [Line Items]    
Contractual interest expense 623  
Amortization of issuance costs 284  
Total interest expense $ 907