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Convertible Senior Notes - Summary of Components of Interest Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Debt Instrument [Line Items]        
Amortization of debt issuance costs     $ 2,091 $ 2,079
Convertible Senior Notes | Convertible Debt        
Debt Instrument [Line Items]        
Contractual coupon interest $ 359 $ 359 719 719
Amortization of debt issuance costs $ 772 $ 766 $ 1,543 $ 1,530