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Debt - Interest Income and Interest Expense Disclosure (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022
Debt Instrument [Line Items] |  |
Total interest expense | $ 3,719 | $ 5,224
2026 Convertible Notes: |  |
Debt Instrument [Line Items] |  |
Contractual interest expense | 465 | 997
Amortization of debt issuance costs | 940 | 1,915
Total interest expense | 1,405 | 2,912
2028 Convertible Notes: |  |
Debt Instrument [Line Items] |  |
Contractual interest expense | 1,250 | 1,250
Amortization of debt issuance costs | 1,064 | 1,062
Total interest expense | $ 2,314 | $ 2,312

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