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Convertible Senior Notes - Interest Expense Recognized (Details) - Senior Notes - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
2026 Notes      
Debt Instrument [Line Items]      
Contractual interest expense $ 0 $ 0 $ 0
Amortization of issuance costs 1,035 2,196 2,635
Total interest expense 1,035 2,196 2,635
2025 Notes      
Debt Instrument [Line Items]      
Contractual interest expense 621 874 896
Amortization of issuance costs 2,121 2,970 3,045
Total interest expense $ 2,742 $ 3,844 $ 3,941