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Shareholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions |  | 3 Months Ended |  |
--- | --- | --- | --- | ---
Aug. 04, 2021 | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Jun. 30, 2020 | Jun. 30, 2022 | Dec. 31, 2021
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock, authorized shares (in shares) |  |  |  |  |  | 500,000,000 | 500,000,000
Common stock, par value (in dollars per share) |  |  |  |  |  | $ 0.01 | $ 0.01
Common stock, issued shares (in shares) |  |  |  |  |  | 119,865,023 | 118,738,266
Common stock, outstanding shares (in shares) |  |  |  |  |  | 119,865,023 | 118,738,266
Offering price per share (in dollars per share) |  |  | $ 25.00 |  | $ 23.25 |  |
Payments of stock issuance costs |  |  | $ 17.5 |  | $ 13.5 |  |
Preferred stock, authorized (in shares) |  |  |  |  |  | 200,000,000 |
Preferred stock, par value (in dollars per share) |  |  |  |  |  | $ 0.01 |
Preferred stock, shares issued (in shares) |  |  |  |  |  | 0 |
Preferred stock, shares outstanding (in shares) |  |  |  |  |  | 0 |
Motus |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock shares reserved for issuance (in shares) |  |  |  |  |  | 9,406,112 |
Shares issued in acquisition (in shares) | 2,889,367 | 2,889,367 |  |  |  |  |
Public Stock Offering |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Shares sold in offering (in shares) |  |  | 11,500,000 |  | 11,155,000 |  |
Aggregate net proceeds from stock offering |  |  | $ 270.1 |  | $ 245.9 |  |
Over-Allotment Option |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Shares sold in offering (in shares) |  |  | 1,500,000 |  | 1,455,000 |  |
ATM Program |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock authorized, aggregate gross sales proceeds (up to) |  |  |  | $ 250.0 |  |  |
Convertible debt securities |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock shares reserved for issuance (in shares) |  |  |  |  |  | 23,438,430 |
Common stock options |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock shares reserved for issuance (in shares) |  |  |  |  |  | 17,805,766 |
Unvested restricted stock and RSUs |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock shares reserved for issuance (in shares) |  |  |  |  |  | 1,619,225 |
PSUs |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |
Common stock shares reserved for issuance (in shares) |  |  |  |  |  | 670,168 |

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