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Convertible Subordinated Notes (Liability and Equity Components) (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Amortization of debt issuance costs $ 699 $ 552 $ 576
Convertible subordinated notes      
Debt Instrument [Line Items]      
Interest expense 0 0 18
Accretion of discount 0 0 20
Amortization of debt issuance costs $ 0 $ 0 $ 1