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Debt - Schedule of Interest Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Aug. 31, 2019
May 31, 2018
Debt Instrument [Line Items]        
Amortization of debt issuance costs $ 1,166 $ 1,168    
Capitalization of interest expense (68) (49)    
Total interest expense 2,681 2,695    
Credit Agreement        
Debt Instrument [Line Items]        
Interest on debt instruments $ 146 139    
Convertible Debt | 2025 Notes        
Debt Instrument [Line Items]        
Interest rate 0.125%     0.125%
Interest on debt instruments $ 359 359    
Convertible Debt | 2027 Notes        
Debt Instrument [Line Items]        
Interest rate 0.375%   0.375%  
Interest on debt instruments $ 1,078 $ 1,078