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Debt and Credit Arrangements - 2024 Convertible Notes (Details)
$ / shares in Units, shares in Thousands
1 Months Ended 12 Months Ended
Dec. 31, 2017
USD ($)
Dec. 31, 2022
USD ($)
day
$ / shares
Dec. 31, 2021
USD ($)
Dec. 31, 2020
Nov. 06, 2017
USD ($)
Oct. 31, 2017
$ / shares
shares
Debt Instrument            
Share price (usd per share) | $ / shares   $ 115.23        
Convertible Debt | Convertible Notes, due 2024            
Debt Instrument            
Debt instrument stated interest rate (percent)   1.50% 1.00% 1.00% 1.00%  
Principal amount | $   $ 258,800,000 $ 258,800,000   $ 258,800,000  
Debt instrument, conversion price (usd per share) | $ / shares           $ 58.725
Debt instrument, conversion premium (percentage)           35.00%
Share price (usd per share) | $ / shares           $ 43.50
Value of securities above principal amount of debt if converted | $   $ 249,000,000.0        
Debt instrument, threshold for trading days | day   20        
Debt instrument, threshold for consecutive trading days | day   30        
Applicable conversion price threshold (as percentage)   130.00%        
Maximum days after five trading days   5 days        
Applicable conversion price, less than (as percentage)   97.00%        
Trigger price (usd per share) | $ / shares   $ 76.3425        
Non cash payment for derivative instrument | $ $ 59,500,000          
Number of shares underlying warrant (shares) | shares           4,410
Proceeds from issuance of warrants | $ $ 46,000,000.0          
Percentage above previous sales price           65.00%
Net cost of convertible note hedge and warrant | $   $ 13,500,000        
Share conversion rate   0.0170285        
Convertible Debt | Convertible Notes, due 2024 | Maximum            
Debt Instrument            
Debt instrument, conversion price (usd per share) | $ / shares   $ 71.775       $ 71.775