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Convertible Senior Notes, Net - Amounts Recorded in Interest Expense Related to Notes (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
2025 Convertible senior notes    
Debt Disclosure [Line Items]    
Contractual interest expense $ 1,294 $ 1,294
Amortization of debt issuance costs 308 320
Total interest and amortization expense 1,602 1,614
2028 Convertible senior notes    
Debt Disclosure [Line Items]    
Contractual interest expense 719 719
Amortization of debt issuance costs 325 320
Total interest and amortization expense $ 1,044 $ 1,039