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Debt - Deferred Financing Costs (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Sep. 30, 2021
Debt Instrument [Line Items]
Deferred financing costs related to convertible notes				$ 3,700
Amortization expenses of deferred financing costs included in Interest expense	$ 1,700	$ 1,000	$ 1,900
2021 Credit Agreement
Debt Instrument [Line Items]
Deferred financing costs related to convertible notes	$ 2,400
Credit Agreement and Convertible Notes | Debt Offerings
Debt Instrument [Line Items]
Weighted-average interest rate on debt borrowings	7.00%	4.00%	5.00%
2023 Convertible Notes
Debt Instrument [Line Items]
Deferred financing costs related to convertible notes	$ 13,216	$ 0

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