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Convertible Senior Notes - Interest expenses incurred on Convertible notes payable (Details) - Convertible Senior Notes. - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Convertible Senior Notes        
Coupon interest $ 852 $ 881 $ 2,576 $ 2,616
Amortization of debt issuance costs 645 635 1,928 1,903
Total interest expense $ 1,497 $ 1,516 $ 4,504 $ 4,519