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Liabilities - Convertible Senior Notes - Interest Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Non-Cash Interest Expense    
Amortization of debt discount/transaction costs $ 226 $ 238
Total Interest Expense 2,580 2,704
2023 Notes    
Cash Interest Expense    
Coupon interest expense 23 136
Non-Cash Interest Expense    
Amortization of debt discount/transaction costs 4 24
2025 Notes    
Cash Interest Expense    
Coupon interest expense 1,159 1,159
Non-Cash Interest Expense    
Amortization of debt discount/transaction costs $ 117 113
Convertible Debt, Fair Value by Fair Value Hierarchy Level Level 2  
Estimated fair value $ 143,700  
2027 Notes    
Cash Interest Expense    
Coupon interest expense 1,172 1,172
Non-Cash Interest Expense    
Amortization of debt discount/transaction costs $ 105 $ 100
Convertible Debt, Fair Value by Fair Value Hierarchy Level Level 2  
Estimated fair value $ 210,500