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Debt - Convertible Debt (Details) - Senior notes - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
1.75% senior notes due in 2026      
Debt Conversion [Line Items]      
Contractual interest expense $ 8,006 $ 8,750 $ 5,906
Amortization of issuance costs 2,522 2,695 1,777
Total Convertible Notes interest expense $ 10,528 $ 11,445 $ 7,683
1.75% convertible notes due May 1, 2026      
Debt Conversion [Line Items]      
Effective interest rate 2.40%