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Debt - Interest Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Non-Cash Interest Expense      
Amortization of debt discount/transaction costs $ 1,118 $ 962 $ 13,819
Total Interest Expense 9,964 10,832 26,282
2023 Notes      
Cash Interest Expense      
Coupon interest expense 23 545 3,138
Non-Cash Interest Expense      
Amortization of debt discount/transaction costs 4 97 4,932
2025 Notes      
Cash Interest Expense      
Coupon interest expense 2,360 4,637 4,637
Non-Cash Interest Expense      
Amortization of debt discount/transaction costs 240 457 4,795
Estimated fair value $ 36,500    
Convertible Debt, Fair Value by Fair Value Hierarchy Level Level 2    
2027 Notes      
Cash Interest Expense      
Coupon interest expense $ 2,385 4,688 4,688
Non-Cash Interest Expense      
Amortization of debt discount/transaction costs 220 $ 408 $ 4,092
Estimated fair value $ 57,600    
Convertible Debt, Fair Value by Fair Value Hierarchy Level Level 2    
2029 Notes      
Cash Interest Expense      
Coupon interest expense $ 4,078    
Non-Cash Interest Expense      
Amortization of debt discount/transaction costs 654    
Estimated fair value $ 298,000    
Convertible Debt, Fair Value by Fair Value Hierarchy Level Level 2