Annual report pursuant to Section 13 and 15(d)

Debt - Schedule of Components of Interest Expense, Related Fees, Losses on Debt Extinguishment and Cash Paid for Interest Expense for Debt (Details)

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Debt - Schedule of Components of Interest Expense, Related Fees, Losses on Debt Extinguishment and Cash Paid for Interest Expense for Debt (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Interest expense $ 67,620 $ 54,749 $ 54,447
Amortization of debt issuance cost (loan fees) 6,123 4,800 10,451
Unused facility and other fees (loan fees) 3,722 2,798 2,625
Total interest expense and fees 77,465 62,347 67,523
Cash paid for interest expense 67,149 52,075 51,469
SBA Debentures      
Debt Instrument [Line Items]      
Interest expense 4,562 3,997 1,580
Amortization of debt issuance cost (loan fees) 585 581 452
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 5,147 4,578 2,032
Cash paid for interest expense 4,562 2,835 2,272
2022 Notes(3)      
Debt Instrument [Line Items]      
Interest expense   1,011 7,102
Amortization of debt issuance cost (loan fees)   50 360
Unused facility and other fees (loan fees)   0 0
Total interest expense and fees   1,061 7,462
Cash paid for interest expense   2,293 6,938
Amortization of original issue discounts   23 165
July 2024 Notes      
Debt Instrument [Line Items]      
Interest expense 5,009 5,009 5,009
Amortization of debt issuance cost (loan fees) 295 295 295
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 5,304 5,304 5,304
Cash paid for interest expense 5,009 5,009 5,008
February 2025 Notes      
Debt Instrument [Line Items]      
Interest expense 2,140 2,140 2,140
Amortization of debt issuance cost (loan fees) 115 115 115
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 2,255 2,255 2,255
Cash paid for interest expense 2,140 2,140 2,140
April 2025 Notes      
Debt Instrument [Line Items]      
Interest expense     1,969
Amortization of debt issuance cost (loan fees)     1,667
Unused facility and other fees (loan fees)     0
Total interest expense and fees     3,636
Cash paid for interest expense     2,635
Debt extinguishment costs     1,477
June 2025 Notes      
Debt Instrument [Line Items]      
Interest expense 3,017 3,017 3,017
Amortization of debt issuance cost (loan fees) 162 162 162
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 3,179 3,179 3,179
Cash paid for interest expense 3,017 3,017 3,017
June 2025 3-Year Notes      
Debt Instrument [Line Items]      
Interest expense 3,000 1,567  
Amortization of debt issuance cost (loan fees) 155 81  
Unused facility and other fees (loan fees) 0 0  
Total interest expense and fees 3,155 1,648  
Cash paid for interest expense 3,000 1,500  
March 2026 A Notes      
Debt Instrument [Line Items]      
Interest expense 2,250 2,250 2,250
Amortization of debt issuance cost (loan fees) 95 95 93
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 2,345 2,345 2,343
Cash paid for interest expense 2,250 2,250 1,875
March 2026 B Notes      
Debt Instrument [Line Items]      
Interest expense 2,275 2,275 1,877
Amortization of debt issuance cost (loan fees) 103 103 85
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 2,378 2,378 1,962
Cash paid for interest expense 2,276 2,275 1,138
September 2026 Notes      
Debt Instrument [Line Items]      
Interest expense 8,697 8,698 2,513
Amortization of debt issuance cost (loan fees) 815 815 236
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 9,512 9,513 2,749
Cash paid for interest expense 8,532 8,531 0
Amortization of original issue discounts 166 166 48
January 2027 Notes      
Debt Instrument [Line Items]      
Interest expense 12,316 11,630  
Amortization of debt issuance cost (loan fees) 828 782  
Unused facility and other fees (loan fees) 0 0  
Total interest expense and fees 13,144 12,412  
Cash paid for interest expense 11,812 5,906  
Amortization of original issue discounts 503 475  
2031 Asset-Backed Notes      
Debt Instrument [Line Items]      
Interest expense 7,613 3,975  
Amortization of debt issuance cost (loan fees) 399 209  
Unused facility and other fees (loan fees) 0 0  
Total interest expense and fees 8,012 4,184  
Cash paid for interest expense 7,425 3,671  
Amortization of original issue discounts 188 98  
2033 Notes      
Debt Instrument [Line Items]      
Interest expense 2,500 2,500 2,500
Amortization of debt issuance cost (loan fees) 108 108 108
Unused facility and other fees (loan fees) 0 0 0
Total interest expense and fees 2,608 2,608 2,608
Cash paid for interest expense 2,500 2,500 2,500
2027 Asset-Backed Notes      
Debt Instrument [Line Items]      
Interest expense     4,888
Amortization of debt issuance cost (loan fees)     2,176
Unused facility and other fees (loan fees)     0
Total interest expense and fees     7,064
Cash paid for interest expense     4,972
Debt extinguishment costs     1,272
2028 Asset-Backed Notes      
Debt Instrument [Line Items]      
Interest expense     8,139
Amortization of debt issuance cost (loan fees)     2,351
Unused facility and other fees (loan fees)     0
Total interest expense and fees     10,490
Cash paid for interest expense     8,240
Debt extinguishment costs     1,670
2022 Convertible Notes(3)      
Debt Instrument [Line Items]      
Interest expense   923 10,734
Amortization of debt issuance cost (loan fees)   148 892
Unused facility and other fees (loan fees)   0 0
Total interest expense and fees   1,071 11,626
Cash paid for interest expense   5,004 10,062
Amortization of original issue discounts   112 671
Wells Facility      
Debt Instrument [Line Items]      
Interest expense     0
Amortization of debt issuance cost (loan fees)     198
Unused facility and other fees (loan fees)     675
Total interest expense and fees     873
Cash paid for interest expense     0
MUFG Bank Facility      
Debt Instrument [Line Items]      
Interest expense 5,583 4,548 672
Amortization of debt issuance cost (loan fees) 1,770 941 1,228
Unused facility and other fees (loan fees) 2,782 2,285 1,906
Total interest expense and fees 10,135 7,774 3,806
Cash paid for interest expense 5,948 4,097 672
SMBC Facility      
Debt Instrument [Line Items]      
Interest expense 8,658 1,209 57
Amortization of debt issuance cost (loan fees) 693 315 33
Unused facility and other fees (loan fees) 940 513 44
Total interest expense and fees 10,291 2,037 134
Cash paid for interest expense $ 8,678 $ 1,047 $ 0