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Debt - Interest Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Secured Debt        
Interest Expense        
Contractual interest expense $ 8,054   $ 8,269  
Amortization of debt issuance costs 180   262  
Other financing costs 75   88  
Total interest expense 8,309   8,619  
Convertible Senior Notes        
Interest Expense        
Contractual interest expense 1,125 $ 1,125 3,375 $ 4,619
Amortization of debt issuance costs 405 399 1,212 1,453
Total interest expense $ 1,530 $ 1,524 $ 4,587 $ 6,072