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Debt - Components of Interest Expense and Effective Interest Rates of Senior Convertible Notes (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Cash interest expense:        
Contractual coupon interest $ 3.0 $ 2.2 $ 5.2 $ 4.4
Non-cash interest expense:        
Amortization of debt issuance costs 2.0 1.4 3.5 2.9
Total interest expense recognized on senior notes $ 5.0 $ 3.6 $ 8.7 $ 7.3
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%
Senior Convertible Notes due 2028        
Non-cash interest expense:        
Effective interest rate (as a percent) 0.70%   0.70%