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Long-term Debt - Repurchase of Outstanding Debt (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Debt Instrument [Line Items] |  |  |
Cash Paid | $ 17,315 | $ 8,450 | $ 125,952
Non-cash Gains Recognized | 0 | 176 | 4,022
1.5% Convertible Unsecured Senior Notes |  |  |
Debt Instrument [Line Items] |  |  |
Principal Amount | 17,315 | 8,654 | 131,400
Carrying Value of Liability | 17,315 | 8,626 | 129,974
Cash Paid | 17,315 | 8,450 | 125,952
Non-cash Gains Recognized | $ 0 | $ 176 | $ 4,022

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