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Summary of Significant Accounting Policies - Recently Adopted Accounting Standards (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Jan. 01, 2022
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Accumulated deficit $ 64,890 $ 48,547  
Additional paid-in capital (391,048) (364,913)  
Deferred tax liability (33,021) (38,466)  
Convertible senior notes 418,526 480,546  
Interest expense, debt 3,719 5,224  
Accounting Standards Update 2020-06 | Cumulative effect of adoption, adjusted balance      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Accumulated deficit     $ 8,800
Additional paid-in capital     156,200
Deferred tax liability     1,000
Convertible senior notes     $ 148,400
Interest expense, debt $ 29,200 $ 27,200