Long-term Debt - Interest Expense on Note (Details) - Senior Notes [Member] - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Convertible Senior Notes Due 2026
Debt Instrument [Line Items]
Coupon interest	$ 500	$ 500	$ 100
Amortization of debt discount (1)	0	0	1,700
Amortization of debt issuance costs	2,100	2,100	300
Total interest expense recognized	2,600	2,600	2,100
Convertible Senior Notes Due 2025
Debt Instrument [Line Items]
Coupon interest	300	300	2,500
Amortization of debt discount (1)	0	0	7,800
Amortization of debt issuance costs	100	100	1,000
Total interest expense recognized	$ 400	$ 400	$ 11,300