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Interest Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Other Income and Expenses [Abstract]      
Interest expense $ 4,654 $ 19,696 $ 19,435
Interest expense on nonrecourse liability related to sale of future royalties 2,416 3,727 4,319
Total other income (expense) 7,070 23,423 23,754
Amortization of deferred financing costs and debt discount $ 2,112 $ 17,501 $ 16,581