Debt - Interest Expense Recognition (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Instrument [Line Items]
Amortization of debt issuance costs	$ 2,575	$ 2,569	$ 2,564
Convertible senior notes | Senior Notes Due 2027
Debt Instrument [Line Items]
Amortization of debt issuance costs	2,575	2,569	2,564
Total interest expense recognized	$ 2,575	$ 2,569	$ 2,564
Effective interest rate	0.20%	0.20%	0.20%