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Debt - Interest Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Debt Disclosure [Abstract]        
Contractual interest expense $ 2,052 $ 1,975 $ 4,021 $ 3,948
Amortization of debt issuance costs 457 349 807 698
Accretion of debt discount 7,482 4,713 12,389 9,363
Total convertible debt interest expense 9,991 7,037 17,217 14,009
Finance lease interest expense 328 432 661 871
Interest expense $ 10,319 $ 7,469 $ 17,878 $ 14,880