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Convertible Subordinated Notes (Liability and Equity Components) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]      
Amortization of debt issuance costs $ 552 $ 576 $ 782
Convertible subordinated notes      
Debt Instrument [Line Items]      
Interest expense 0 18 149
Accretion of discount 0 20 216
Amortization of debt issuance costs $ 0 $ 1 $ 20