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CONSOLIDATED STATEMENTS OF CASH FLOWS (Parenthetical) - USD ($) $ in Millions | Dec. 31, 2022 | Dec. 31, 2021 | Apr. 30, 2021 | Dec. 31, 2020 | Dec. 31, 2019
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0 Percent Convertible Senior Notes [Member] |  |  |  |  |
Financing activities: |  |  |  |  |
Interest rate on convertible senior notes | 0.00% | 0.00% | 0.00% |  | 0.00%
1 Percent Convertible Senior Notes [Member] |  |  |  |  |
Financing activities: |  |  |  |  |
Interest rate on convertible senior notes | 1.00% | 1.00% | 1.00% | 1.00% | 1.00%
Principal amount repurchased |  | $ 247.9 | $ 247.9 |  | $ 375.6

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