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Debt - Components of Interest Expense and Effective Interest Rates of Senior Convertible Notes (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Cash interest expense:        
Contractual coupon interest $ 2.3 $ 2.4 $ 6.7 $ 7.0
Non-cash interest expense:        
Amortization of debt issuance costs 1.4 1.5 4.3 4.5
Total interest expense recognized on senior notes $ 3.7 $ 3.9 $ 11.0 $ 11.5
Senior Convertible Notes due 2023        
Non-cash interest expense:        
Effective interest rate (as a percent) 1.10% 1.10% 1.10% 1.10%
Senior Convertible Notes due 2025        
Non-cash interest expense:        
Effective interest rate (as a percent) 0.50% 0.50% 0.50% 0.50%