Debt - Schedule of Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Total interest expense	$ 9,524	$ 8,886	$ 7,491
Senior Notes
Debt Instrument [Line Items]
Contractual interest expense	3,008	3,286	2,600
Amortization of debt issuance costs	7,834	5,096	4,654
Total interest expense	10,842	8,382	7,254
2023 notes | Senior Notes
Debt Instrument [Line Items]
Contractual interest expense	223	411	413
Amortization of debt issuance costs	81	150	189
Total interest expense	304	561	602
2025 notes | Senior Notes
Debt Instrument [Line Items]
Contractual interest expense	0	0	0
Amortization of debt issuance costs	4,602	2,706	2,760
Total interest expense	4,602	2,706	2,760
2027 notes | Senior Notes
Debt Instrument [Line Items]
Contractual interest expense	2,785	2,875	2,187
Amortization of debt issuance costs	3,151	2,240	1,705
Total interest expense	$ 5,936	$ 5,115	$ 3,892