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Convertible Notes Payable - Summary of Total Interest Expense Recognized Related to the Convertible Notes (Details) - Convertible debt - 3.00% Convertible notes - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Debt Instrument [Line Items]        
Contractual interest expense $ 1,446 $ 2,288 $ 5,048 $ 6,863
Amortization of debt discount 196 4,421 684 12,830
Amortization of debt issuance costs 11 165 38 480
Total interest expense $ 1,653 $ 6,874 $ 5,770 $ 20,173