Debt - Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Secured Debt
Interest Expense
Contractual interest expense	$ 14,718
Amortization of debt issuance costs	442
Other financing costs	101
Total interest expense	15,261
Convertible Senior Notes
Interest Expense
Contractual interest expense	4,500	$ 5,745	$ 7,216
Amortization of debt issuance costs	1,618	1,853	1,678
Amortization of debt discount			22,256
Total interest expense	$ 6,118	$ 7,598	$ 31,150