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Consolidated Statements of Cash Flows (Parenthetical)
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Mar. 19, 2021
Jan. 30, 2018
1.5% Convertible Unsecured Senior Notes          
Stated interest rate (as a percent) 1.50% 1.50% 1.50%   1.50%
4.75% Convertible Senior Notes          
Stated interest rate (as a percent) 4.75% 4.75% 4.75% 4.75%