Debt - 2016 Convertible Notes (Details Textual)	12 Months Ended
	Dec. 31, 2021 USD ($) $ / shares	Dec. 31, 2020 USD ($)	Mar. 31, 2016 USD ($)
Debt Instrument [Line Items]
Net carrying value	$ 237,500,000	$ 14,063,000
Senior Convertible Notes 2016
Debt Instrument [Line Items]
Senior convertible notes face amount			$ 230,000,000
Interest rate on senior convertible notes	4.25%		4.25%
Maturity date of 2016 convertible Notes	Mar. 15, 2036
Initial conversion rate of common stock	17.7621
Convertible Notes, initial conversion of Par Value Convertible Notes to common stock	$ 1,000
Initial conversion price | $ / shares	$ 56.30
Net carrying value	$ 230,000,000.0
Minimum quarterly dividends to adjust conversion rate | $ / shares	$ 0.185
Consecutive trading days during related observation period	40 days
Observation period, start date	Jan. 12, 2022
Observation period, end date	Mar. 10, 2022
Debt instrument redemption price percentage of principal amount	100.00%