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Debt - Deferred Financing Costs (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Sep. 30, 2021
Debt Instrument [Line Items]        
Deferred financing costs related to convertible notes       $ 3.7
Amortization expenses of deferred financing costs included in Interest expense $ 1.0 $ 1.9 $ 1.9  
2021 Credit Agreement        
Debt Instrument [Line Items]        
Deferred financing costs related to convertible notes $ 2.7      
Credit Agreement and Convertible Notes | Debt Offerings        
Debt Instrument [Line Items]        
Weighted-average interest rate on debt borrowings 4.00% 5.00% 5.00%