Debt - Additional Information (Details)					1 Months Ended		3 Months Ended		9 Months Ended		12 Months Ended
	Jan. 28, 2021 USD ($) TradingDay shares $ / shares	Jan. 25, 2021 USD ($) $ / shares shares	Mar. 09, 2020 USD ($) TradingDay shares $ / shares	Mar. 04, 2020 USD ($) $ / shares shares	Jun. 30, 2022 USD ($)	Nov. 30, 2021 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2022 USD ($)	Nov. 30, 2022 USD ($)	May 31, 2022 USD ($)	Feb. 02, 2021 USD ($)
Debt Instrument [Line Items]
Proceeds from term loan, net of issuance costs									$ 0	$ 1,120,000
Interest expense							$ 8,563,000	$ 8,538,000	25,665,000	25,595,000
Amortization of debt discount and issuance costs							920,000	895,000	2,738,000	2,668,000
Debt instrument prepaid includes final payment charge and prepayment fee									0	20,486,000
License Agreement | Navire BMS
Debt Instrument [Line Items]
Amount paid to lenders					$ 20,500,000
Principle amount paid to lenders					20,100,000
Exit fee					$ 400,000
Loan Agreement
Debt Instrument [Line Items]
Debt Instrument face amount														$ 450,000,000
Debt instrument, frequency of interest payment						quarterly
Debt instrument payment amortization date						Jan. 02, 2025
Debt instrument potential payment extended amortization date						Jan. 02, 2026
Stated interest rate						9.00%
Maturity date						Nov. 17, 2026
Debt issuance costs including initial purchasers discounts, legal and other professional fees							1,100,000		1,100,000
Interest expense							11,600,000	11,200,000	34,600,000	34,700,000
Amortization of debt discount and issuance costs							1,200,000	1,200,000	4,000,000	3,800,000
Interest payable							10,100,000		10,100,000				$ 6,400,000
Loan Agreement | Payment in Kind
Debt Instrument [Line Items]
Stated interest rate						3.00%
Accrued interest convertible into principal							3,400,000	3,400,000	10,100,000	8,500,000
Maximum | Loan Agreement
Debt Instrument [Line Items]
Debt Instrument face amount						$ 750,000,000
Debt instrument prepayment premium percentage						3.00%
Debt instrument mandatory prepayments percentage of net cash proceeds from prepayment event transaction						75.00%
Minimum | Loan Agreement
Debt Instrument [Line Items]
Debt instrument prepayment premium percentage						1.00%
Debt instrument mandatory prepayments percentage of net cash proceeds from prepayment event transaction						50.00%
2029 Notes
Debt Instrument [Line Items]
Debt Instrument face amount	$ 717,500,000						747,500,000		$ 747,500,000							$ 747,500,000
Proceeds from exercise of option to purchase additional notes	67,500,000
Debt instrument option to purchase additional notes	97,500,000
Proceeds from exercise of remaining portion of option to purchase additional notes	$ 30,000,000.0
Debt instrument issuance date	Jan. 28, 2021
Maturity year	2029
Debt instrument, frequency of interest payment	semiannually
Interest payable beginning date	Aug. 01, 2021
Stated interest rate	2.25%
Maturity date	Feb. 01, 2029
Description of payment terms of notes									The 2029 Notes will accrue interest payable semiannually in arrears on February 1 and August 1 of each year, beginning on August 1, 2021, at a rate of 2.25% per year. The 2029 Notes will mature on February 1, 2029, unless earlier converted, redeemed or repurchased.
Proceeds from issuance of notes after deducting discount and offering expenses	$ 731,400,000
Direct offering expense	0
Purchase of capped calls	61,300,000
Repurchase of common stock	50,000,000.0
Denomination of the principal amount of debt in consideration conversion of the notes	$ 1,000
Debt instrument, convertible, threshold trading days | TradingDay	20
Debt instrument, convertible, threshold consecutive trading days | TradingDay	30
Debt instrument, convertible, threshold percentage of stock price trigger	130.00%
Number of consecutive trading day period (Measurement period) for conversion of notes	5 days
Number of business days in consideration of conversion of notes	5 days
Threshold percentage of stock price trigger in measurement period	98.00%
Conversion rate	10.3050
Initial conversion price per share | $ / shares	$ 97.04
Debt instrument, conversion, equivalent shares of common stock | shares	7,702,988
Percentage of principal amount to be repurchased in fundamental change	100.00%
Minimum threshold percentage of aggregate principal by trustee or holders	25.00%
Debt issuance costs including initial purchasers discounts, legal and other professional fees	$ 16,100,000
Expected life of notes	8 years
Interest payable							2,800,000		$ 2,800,000				7,000,000
Interest expense							4,687,000	4,674,000	14,048,000	14,012,000
Amortization of debt discount and issuance costs							482,000	469,000	1,434,000	1,398,000
2029 Notes | Maximum
Debt Instrument [Line Items]
Debt instrument, increase in conversion rate, number of shares issuable | shares	11,361,851
2027 Notes
Debt Instrument [Line Items]
Debt Instrument face amount			$ 550,000,000.0				550,000,000		$ 550,000,000
Proceeds from exercise of option to purchase additional notes			$ 75,000,000.0
Debt instrument issuance date			Mar. 09, 2020
Maturity year			2027
Debt instrument, frequency of interest payment			semiannually
Interest payable beginning date			Sep. 15, 2020
Stated interest rate			2.50%
Maturity date			Mar. 15, 2027
Description of payment terms of notes									The 2027 Notes will accrue interest payable semiannually in arrears on March 15 and September 15 of each year, beginning on September 15, 2020, at a rate of 2.50% per year. The 2027 Notes will mature on March 15, 2027, unless earlier converted or repurchased
Proceeds from issuance of notes after deducting discount and offering expenses			$ 537,000,000.0
Purchase of capped calls			49,300,000
Repurchase of common stock			75,000,000.0
Denomination of the principal amount of debt in consideration conversion of the notes			$ 1,000
Debt instrument, convertible, threshold trading days | TradingDay			20
Debt instrument, convertible, threshold consecutive trading days | TradingDay			30
Debt instrument, convertible, threshold percentage of stock price trigger			130.00%
Number of consecutive trading day period (Measurement period) for conversion of notes			5 days
Number of business days in consideration of conversion of notes			5 days
Threshold percentage of stock price trigger in measurement period			98.00%
Conversion rate			23.4151
Initial conversion price per share | $ / shares			$ 42.71
Debt instrument, conversion, equivalent shares of common stock | shares			12,878,305
Percentage of principal amount to be repurchased in fundamental change			100.00%
Minimum threshold percentage of aggregate principal by trustee or holders			25.00%
Debt issuance costs including initial purchasers discounts, legal and other professional fees			$ 13,000,000.0
Expected life of notes			7 years
Debt issuance costs allocated to equity component			$ 4,100,000
Debt issuance costs allocated to liability component			$ 8,900,000
Interest payable							600,000		$ 600,000				$ 4,000,000
Interest expense							3,876,000	3,864,000	11,617,000	11,583,000
Amortization of debt discount and issuance costs							$ 438,000	$ 426,000	1,304,000	$ 1,270,000
2027 Notes | Maximum
Debt Instrument [Line Items]
Debt instrument, increase in conversion rate, number of shares issuable | shares			17,707,635
2021 Capped Call Transactions
Debt Instrument [Line Items]
Purchase of capped calls		$ 61,300,000
Initial conversion price per share | $ / shares		$ 97.04
Capped call transaction, cap price per share | $ / shares		$ 131.58
Number of shares covered by capped calls | shares		7,702,988
Adjustments to additional paid in capital related to premium payments											$ 61,300,000
2021 Capped Call Transactions | Share Repurchase Transactions
Debt Instrument [Line Items]
Repurchase of common stock		$ 50,000,000
Stock repurchased during period, shares | shares		759,993
Repurchase of common stock price per share | $ / shares		$ 65.79
2020 Capped Call Transactions
Debt Instrument [Line Items]
Purchase of capped calls				$ 49,300,000
Initial conversion price per share | $ / shares				$ 42.71
Capped call transaction, cap price per share | $ / shares				$ 62.12
Premium over last reported sale price percentage				100.00%
Number of shares covered by capped calls | shares				12,878,305
Adjustments to additional paid in capital related to premium payments												$ 49,300,000
2020 Capped Call Transactions | Share Repurchase Transactions
Debt Instrument [Line Items]
Repurchase of common stock				$ 75,000,000
Stock repurchased during period, shares | shares				2,414,681
Repurchase of common stock price per share | $ / shares				$ 31.06
Tranche 1 Advance | Loan Agreement
Debt Instrument [Line Items]
Proceeds from issuance of Term Loans after deducting debt discount and issuance costs									431,300,000
Proceeds from term loan, net of issuance costs									$ 18,700,000
Tranche 1 Advance | Maximum | Loan Agreement
Debt Instrument [Line Items]
Debt Instrument face amount						$ 450,000,000
Tranche 2 Advance | Maximum | Loan Agreement
Debt Instrument [Line Items]
Debt Instrument face amount						$ 300,000,000
Debt instrument, amount available to be drawn															$ 100,000,000