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Debt - Summary of Total Interest Expense Recognized Related to Notes and Term Debt (Details) - 0.25% Convertible Senior Notes Due 2026 and 2023 Term Debt - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Debt Instrument [Line Items]
Contractual interest expense	$ 228	$ 216	$ 457	$ 437
Amortization of issuance costs	494	489	987	977
Total	$ 722	$ 705	$ 1,444	$ 1,414

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