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Debt - Components of Interest Expense and Effective Interest Rates of Senior Convertible Notes (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Cash interest expense:    
Contractual coupon interest $ 2.2 $ 2.2
Non-cash interest expense:    
Amortization of debt issuance costs 1.5 1.5
Total interest expense recognized on senior notes $ 3.7 $ 3.7
Senior Convertible Notes due 2023    
Non-cash interest expense:    
Effective interest rate (as a percent) 1.10% 1.10%
Senior Convertible Notes due 2025    
Non-cash interest expense:    
Effective interest rate (as a percent) 0.50% 0.50%