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Unsecured Convertible Senior Notes - Interest expense recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
2023 Unsecured Convertible Senior Notes |  |  |  |
Interest Expense, Debt [Abstract] |  |  |  |
Contractual interest expense | $ 1,484 | $ 1,484 | $ 2,969 | $ 2,969
Amortization of debt issuance costs | 164 | 153 | 325 | 303
Total | 1,648 | 1,637 | 3,294 | 3,272
2026 Unsecured Convertible Senior Notes |  |  |  |
Interest Expense, Debt [Abstract] |  |  |  |
Contractual interest expense | 2,954 | 2,954 | 5,907 | 5,907
Amortization of debt issuance costs | 290 | 273 | 575 | 519
Total | $ 3,244 | $ 3,227 | $ 6,482 | $ 6,426

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