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Long-Term Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Debt Disclosure [Abstract] |  |  |
Coupon interest | $ 9,779 | $ 12,542 | $ 12,188
Amortization of debt issuance costs | 1,689 | 1,497 | 1,424
Total interest expense on convertible notes payable | $ 11,468 | $ 14,039 | $ 13,612

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