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Convertible Senior Notes - Summary of Interest Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Debt Disclosure [Abstract]        
Contractual interest expense $ 970 $ 970 $ 2,911 $ 2,910
Amortization of debt discount 2,045 1,983 6,091 5,903
Amortization of issuance costs 256 248 760 738
Total interest expense $ 3,271 $ 3,201 $ 9,762 $ 9,551