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Debt - Schedule of Components of Interest Expense and Effective Interest Rates of Senior Convertible Notes (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash interest expense:      
Contractual coupon interest $ 9.1 $ 8.8 $ 9.3
Non-cash interest expense:      
Amortization of debt issuance costs 7.3 5.9 6.0
Total interest expense recognized on senior notes $ 16.4 $ 14.7 $ 15.3
Senior Convertible Notes due 2023      
Non-cash interest expense:      
Effective interest rate (as a percent) 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%
Senior Convertible Notes due 2028      
Non-cash interest expense:      
Effective interest rate (as a percent) 0.70%