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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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