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Long-Term Debt - Schedule of Notes Payable (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2016
Current portion:      
Unamortized debt issuance costs $ (119) $ 0  
Convertible Notes Payable, Current 324,881 0  
Non-current portion:      
Unamortized debt issuance costs (8,784) (1,542)  
Total non-current convertible notes payable 166,466 323,458  
3.75% Convertible notes due 2023 | Unsecured Debt      
Current portion:      
Debt Instrument, Face Amount, Current 325,000 0  
Non-current portion:      
Aggregate principal amount of notes issued 0 325,000 $ 325,000
5.00% Convertible notes due 2027 | Unsecured Debt      
Non-current portion:      
Aggregate principal amount of notes issued $ 175,250 $ 0