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Convertible Senior Notes - Total Interest Expense Recognized Related to Debt (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
2027 Notes        
Debt Instrument [Line Items]        
Contractual interest expense $ 3,125 $ 3,125 $ 9,375 $ 9,375
Amortization of debt discount 851 838 2,542 2,502
Total $ 3,976 $ 3,963 $ 11,917 $ 11,877
Effective interest rate 1.60% 1.60% 1.60% 1.60%
2025 Notes        
Debt Instrument [Line Items]        
Contractual interest expense $ 2 $ 2 $ 7 $ 7
Amortization of debt discount 1 1 2 2
Total $ 3 $ 3 $ 9 $ 9
Effective interest rate 1.80% 1.80% 1.80% 1.80%
Livongo Notes        
Debt Instrument [Line Items]        
Contractual interest expense $ 1,203 $ 1,203 $ 3,609 $ 3,609
Amortization of debt discount 0 0 0 0
Total $ 1,203 $ 1,203 $ 3,609 $ 3,609
Effective interest rate 0.90% 0.90% 0.90% 0.90%