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Notes Payable - Interest expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Notes Payable      
Interest expense $ 3,380 $ 3,496 $ 1,005
Total interest expense on Convertible Senior Notes 5,906 6,033 4,424
Notes Payable      
Notes Payable      
Interest expense 12 14  
Amortization of debt discount   44 231
Total interest expense on Convertible Senior Notes $ 12 $ 58 $ 231