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Debt Obligations - 2026 Convertible Notes Interest Expense Components (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument
Amortization of debt discount and debt issuance costs	$ 2,407	$ 6,431	$ 4,257
1.5% Convertible Senior Subordinated Notes due 2026 | Convertible Notes
Debt Instrument
Stated coupon interest	3,450	3,450	3,450
Amortization of debt discount and debt issuance costs	1,313	1,286	1,259
Total Interest expense	$ 4,763	$ 4,736	$ 4,709

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Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments. Excludes amortization of financing costs. Alternate captions include noncash interest expense.

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