Debt - Interest Expense Recognized Related To Convertible Notes (Details) - Convertible Notes - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash interest expense
Contractual interest expense	$ 6,469	$ 6,469	$ 6,469
Non-cash interest expense
Amortization of debt discount and debt issuance cost	1,292	1,259	1,227
Total interest expense	$ 7,761	$ 7,728	$ 7,696