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Convertible Senior Notes - Interest Expense Recognized (Details) - Senior Notes - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
2026 Notes      
Debt Instrument [Line Items]      
Amortization of debt discount $ 0 $ 0 $ 14,568
Amortization of issuance costs 2,196 2,635 728
Total interest expense 2,196 2,635 15,296
2025 Notes      
Debt Instrument [Line Items]      
Contractual interest expense 874 896 1,001
Amortization of debt discount 0 0 35,561
Amortization of issuance costs 2,970 3,045 2,443
Total interest expense 3,844 3,941 39,005
2023 Notes      
Debt Instrument [Line Items]      
Contractual interest expense 0 78 691
Amortization of debt discount 0 0 10,073
Amortization of issuance costs 0 242 1,200
Total interest expense $ 0 $ 320 $ 11,964