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CONSOLIDATED BALANCE SHEETS (Parenthetical) - $ / shares | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Stockholders' equity: |  |
Common stock, par value (in dollars per share) | $ 0.001 | $ 0.001
Common stock, shares authorized (in shares) | 300,000,000 | 300,000,000
Common stock, shares issued (in shares) | 141,210,015 | 140,365,594
Common stock, shares outstanding (in shares) | 141,210,015 | 140,365,594
1 Percent Convertible Senior Notes [Member] |  |
LIABILITIES AND STOCKHOLDERS' EQUITY |  |
Interest rate on convertible senior notes | 1.00% | 1.00%
0 Percent Convertible Senior Notes [Member] |  |
LIABILITIES AND STOCKHOLDERS' EQUITY |  |
Interest rate on convertible senior notes | 0.00% |
0.125 Percent Convertible Senior Notes [Member] |  |
LIABILITIES AND STOCKHOLDERS' EQUITY |  |
Interest rate on convertible senior notes | 0.125% | 0.125%

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