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Debt (Tables) | 12 Months Ended
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Dec. 31, 2023
Debt Disclosure [Abstract] |
Schedule of Long-Term Debt Instruments [Table Text Block] | Key components of the 3.25% convertible senior notes due 2023 consist of the following (in thousands):
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |  |  | 2021 |
Contractual interest expense |  | $ | — |  |  | $ | — |  |  | $ | 620 |
Schedule of Debt [Table Text Block] | Term loan consists of the following (in thousands):
|  | December 31, 2023 |  |  | December 31, 2022 |
|  |  |  |  |  | Debt Discount/ |  |  |  |  |  |  |  |  |  |  | Debt Discount/ |  |  |  |  |
|  | Principal |  |  | Issuance |  |  | Net |  |  | Principal |  |  | Issuance |  |  | Net |
|  | Amount |  |  | Costs* |  |  | Amount |  |  | Amount |  |  | Costs* |  |  | Amount |
2021 BSP Term Loan |  | $ | — |  |  | $ | — |  |  | $ | — |  |  | $ | 68,901 |  |  | $ | (1,750 | ) |  | $ | 67,151 |
* The term loan was valued using the discounted cash flow method to determine the implied debt discount. The debt discount and issuance costs are amortized over the life of the term loan on a straight-line basis which approximates the effective interest method.

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