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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