Long Term Debt - Schedule of Debt Instruments (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Current portion of long term debt	$ 172,410	$ 47,239
Long term debt, net of current portion	454,173	402,154
Total debt	626,583	449,393
Convertible Senior Notes
Debt Instrument [Line Items]
Long term debt, net of current portion	286,800	359,254
Securitization Debt of Consolidated VIEs
Debt Instrument [Line Items]
Current portion of long term debt	163,516	47,239
Long term debt, net of current portion	150,579	32,590
Financing of Beneficial Interest in Securizations
Debt Instrument [Line Items]
Current portion of long term debt	8,894
Long term debt, net of current portion	6,484
Junior Subordinated Debentures
Debt Instrument [Line Items]
Long term debt, net of current portion	$ 10,310	$ 10,310