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Consolidated Statements of Cash Flows (Parentheticals) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Restricted cash $ 0 $ 0 $ 1,512 $ 1,512
The 3.75% Convertible Notes        
Interest rate     3.75%  
The 3.75% Convertible Notes | Convertible Debt        
Interest rate 3.75%