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Convertible Senior Notes - Interest expenses incurred on Convertible notes payable (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Convertible Senior Notes      
Coupon interest $ 3,496 $ 1,005 $ 2,108
Amortization of debt issuance costs 2,537 3,419 437
Total interest expense on notes payable $ 6,033 $ 4,424 $ 2,545