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Debt - Interest Income and Interest Expense Disclosure (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]        
Total interest expense $ 896 $ 1,324 $ 1,909 $ 2,647
2026 Convertible Notes:        
Debt Instrument [Line Items]        
Contractual interest expense 109 250 247 500
Amortization of debt issuance costs 210 496 506 991
Total interest expense 319 746 753 1,491
2028 Convertible Notes:        
Debt Instrument [Line Items]        
Contractual interest expense 313 313 626 626
Amortization of debt issuance costs 264 265 530 530
Total interest expense $ 577 $ 578 $ 1,156 $ 1,156