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v3.23.1

Debt - Additional Information (Details) |  |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |  |  |
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Jan. 28, 2021 USD ($) shares TradingDay $ / shares | Jan. 25, 2021 USD ($) $ / shares shares | Mar. 09, 2020 USD ($) TradingDay shares $ / shares | Mar. 04, 2020 USD ($) $ / shares shares | Jun. 30, 2022 USD ($) | Nov. 30, 2021 USD ($) | Mar. 31, 2023 USD ($) | Mar. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($) | Dec. 31, 2022 USD ($) | Nov. 30, 2022 USD ($) | May 31, 2022 USD ($) | Feb. 02, 2021 USD ($)
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from term loan, net of issuance costs |  |  |  |  |  |  | $ 0 | $ 1,120,000 |  |  |  |  |  |
Interest expense |  |  |  |  |  |  | 8,549,000 | 8,526,000 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  |  |  |  | 906,000 | 883,000 |  |  |  |  |  |
License Agreement | Navire BMS |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Amount paid to lenders |  |  |  |  | $ 20,500,000 |  |  |  |  |  |  |  |  |
Principle amount paid to lenders |  |  |  |  | 20,100,000 |  |  |  |  |  |  |  |  |
Exit fee |  |  |  |  | $ 400,000 |  |  |  |  |  |  |  |  |
Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount |  |  |  |  |  |  |  |  |  |  |  | $ 450,000,000.0 |  |
Debt instrument, frequency of interest payment |  |  |  |  |  | quarterly |  |  |  |  |  |  |  |
Debt instrument payment amortization date |  |  |  |  |  | Jan. 02, 2025 |  |  |  |  |  |  |  |
Debt instrument potential payment extended amortization date |  |  |  |  |  | Jan. 02, 2026 |  |  |  |  |  |  |  |
Stated interest rate |  |  |  |  |  | 9.00% |  |  |  |  |  |  |  |
Maturity date |  |  |  |  |  | Nov. 17, 2026 |  |  |  |  |  |  |  |
Debt issuance costs including initial purchasers discounts, legal and other professional fees |  |  |  |  |  |  | 1,100,000 |  |  |  |  |  |  |
Interest expense |  |  |  |  |  |  | 11,400,000 | 11,800,000 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  |  |  |  | 1,400,000 | 1,600,000 |  |  |  |  |  |
Interest payable |  |  |  |  |  |  | 6,300,000 |  |  |  | $ 6,400,000 |  |  |
Loan Agreement | Payment in Kind |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  |  |  |  | 3.00% |  |  |  |  |  |  |  |
Accrued interest convertible into principal |  |  |  |  |  |  | 3,300,000 | 1,800,000 |  |  |  |  |  |
Cumulative accrued interest convertible into principal |  |  |  |  |  |  | 18,700,000 |  |  |  |  |  |  |
Maximum | Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount |  |  |  |  |  | $ 750,000,000.0 |  |  |  |  |  |  |  |
Debt instrument prepayment premium percentage |  |  |  |  |  | 3.00% |  |  |  |  |  |  |  |
Debt instrument mandatory prepayments percentage of net cash proceeds from prepayment event transaction |  |  |  |  |  | 75.00% |  |  |  |  |  |  |  |
Minimum | Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument prepayment premium percentage |  |  |  |  |  | 1.00% |  |  |  |  |  |  |  |
Debt instrument mandatory prepayments percentage of net cash proceeds from prepayment event transaction |  |  |  |  |  | 50.00% |  |  |  |  |  |  |  |
2029 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount | $ 717,500,000 |  |  |  |  |  | $ 747,500,000 |  |  |  |  |  |  | $ 747,500,000
Proceeds from exercise of option to purchase additional notes | 67,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument option to purchase additional notes | 97,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from exercise of remaining portion of option to purchase additional notes | $ 30,000,000.0 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument issuance date | Jan. 28, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |
Maturity year | 2029 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, frequency of interest payment | semiannually |  |  |  |  |  |  |  |  |  |  |  |  |
Interest payable beginning date | Aug. 01, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |
Stated interest rate | 2.25% |  |  |  |  |  |  |  |  |  |  |  |  |
Maturity date | Feb. 01, 2029 |  |  |  |  |  |  |  |  |  |  |  |  |
Description of payment terms of notes |  |  |  |  |  |  | The 2029 Notes will accrue interest payable semiannually in arrears on February 1 and August 1 of each year, beginning on August 1, 2021, at a rate of 2.25% per year. The 2029 Notes will mature on February 1, 2029, unless earlier converted, redeemed or repurchased. |  |  |  |  |  |  |
Proceeds from issuance of notes after deducting discount and offering expenses | $ 731,400,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Direct offering expense | 0 |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase of capped calls | 61,300,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock | 50,000,000.0 |  |  |  |  |  |  |  |  |  |  |  |  |
Denomination of the principal amount of debt in consideration conversion of the notes | $ 1,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold trading days | TradingDay | 20 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold consecutive trading days | TradingDay | 30 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold percentage of stock price trigger | 130.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Number of consecutive trading day period (Measurement period) for conversion of notes | 5 days |  |  |  |  |  |  |  |  |  |  |  |  |
Number of business days in consideration of conversion of notes | 5 days |  |  |  |  |  |  |  |  |  |  |  |  |
Threshold percentage of stock price trigger in measurement period | 98.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion rate | 10.3050 |  |  |  |  |  |  |  |  |  |  |  |  |
Initial conversion price per share | $ / shares | $ 97.04 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, conversion, equivalent shares of common stock | shares | 7,702,988 |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of principal amount to be repurchased in fundamental change | 100.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Minimum threshold percentage of aggregate principal by trustee or holders | 25.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Debt issuance costs including initial purchasers discounts, legal and other professional fees | $ 16,100,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Expected life of notes | 8 years |  |  |  |  |  |  |  |  |  |  |  |  |
Interest payable |  |  |  |  |  |  | $ 2,800,000 |  |  |  | 7,000,000.0 |  |  |
Interest expense |  |  |  |  |  |  | 4,680,000 | 4,668,000 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  |  |  |  | 475,000 | 463,000 |  |  |  |  |  |
2029 Notes | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, increase in conversion rate, number of shares issuable | shares | 11,361,851 |  |  |  |  |  |  |  |  |  |  |  |  |
2027 Notes |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount |  |  | $ 550,000,000.0 |  |  |  | $ 550,000,000.0 |  |  |  |  |  |  |
Proceeds from exercise of option to purchase additional notes |  |  | $ 75,000,000.0 |  |  |  |  |  |  |  |  |  |  |
Debt instrument issuance date |  |  | Mar. 09, 2020 |  |  |  |  |  |  |  |  |  |  |
Maturity year |  |  | 2027 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, frequency of interest payment |  |  | semiannually |  |  |  |  |  |  |  |  |  |  |
Interest payable beginning date |  |  | Sep. 15, 2020 |  |  |  |  |  |  |  |  |  |  |
Stated interest rate |  |  | 2.50% |  |  |  |  |  |  |  |  |  |  |
Maturity date |  |  | Mar. 15, 2027 |  |  |  |  |  |  |  |  |  |  |
Description of payment terms of notes |  |  |  |  |  |  | The 2027 Notes will accrue interest payable semiannually in arrears on March 15 and September 15 of each year, beginning on September 15, 2020, at a rate of 2.50% per year. The 2027 Notes will mature on March 15, 2027, unless earlier converted or repurchased |  |  |  |  |  |  |
Proceeds from issuance of notes after deducting discount and offering expenses |  |  | $ 537,000,000.0 |  |  |  |  |  |  |  |  |  |  |
Purchase of capped calls |  |  | 49,300,000 |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock |  |  | 75,000,000.0 |  |  |  |  |  |  |  |  |  |  |
Denomination of the principal amount of debt in consideration conversion of the notes |  |  | $ 1,000 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold trading days | TradingDay |  |  | 20 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold consecutive trading days | TradingDay |  |  | 30 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold percentage of stock price trigger |  |  | 130.00% |  |  |  |  |  |  |  |  |  |  |
Number of consecutive trading day period (Measurement period) for conversion of notes |  |  | 5 days |  |  |  |  |  |  |  |  |  |  |
Number of business days in consideration of conversion of notes |  |  | 5 days |  |  |  |  |  |  |  |  |  |  |
Threshold percentage of stock price trigger in measurement period |  |  | 98.00% |  |  |  |  |  |  |  |  |  |  |
Conversion rate |  |  | 23.4151 |  |  |  |  |  |  |  |  |  |  |
Initial conversion price per share | $ / shares |  |  | $ 42.71 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, conversion, equivalent shares of common stock | shares |  |  | 12,878,305 |  |  |  |  |  |  |  |  |  |  |
Percentage of principal amount to be repurchased in fundamental change |  |  | 100.00% |  |  |  |  |  |  |  |  |  |  |
Minimum threshold percentage of aggregate principal by trustee or holders |  |  | 25.00% |  |  |  |  |  |  |  |  |  |  |
Debt issuance costs including initial purchasers discounts, legal and other professional fees |  |  | $ 13,000,000.0 |  |  |  |  |  |  |  |  |  |  |
Expected life of notes |  |  | 7 years |  |  |  |  |  |  |  |  |  |  |
Debt issuance costs allocated to equity component |  |  | $ 4,100,000 |  |  |  |  |  |  |  |  |  |  |
Debt issuance costs allocated to liability component |  |  | $ 8,900,000 |  |  |  |  |  |  |  |  |  |  |
Interest payable |  |  |  |  |  |  | $ 600,000 |  |  |  | $ 4,000,000.0 |  |  |
Interest expense |  |  |  |  |  |  | 3,869,000 | 3,858,000 |  |  |  |  |  |
Amortization of debt discount and issuance costs |  |  |  |  |  |  | 431,000 | $ 420,000 |  |  |  |  |  |
2027 Notes | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, increase in conversion rate, number of shares issuable | shares |  |  | 17,707,635 |  |  |  |  |  |  |  |  |  |  |
2021 Capped Call Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase of capped calls |  | $ 61,300,000 |  |  |  |  |  |  |  |  |  |  |  |
Initial conversion price per share | $ / shares |  | $ 97.04 |  |  |  |  |  |  |  |  |  |  |  |
Capped call transaction, cap price per share | $ / shares |  | $ 131.58 |  |  |  |  |  |  |  |  |  |  |  |
Number of shares covered by capped calls | shares |  | 7,702,988 |  |  |  |  |  |  |  |  |  |  |  |
Adjustments to additional paid in capital related to premium payments |  |  |  |  |  |  |  |  | $ 61,300,000 |  |  |  |  |
2021 Capped Call Transactions | Share Repurchase Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock |  | $ 50,000,000.0 |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchased during period, shares | shares |  | 759,993 |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock price per share | $ / shares |  | $ 65.79 |  |  |  |  |  |  |  |  |  |  |  |
2020 Capped Call Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Purchase of capped calls |  |  |  | $ 49,300,000 |  |  |  |  |  |  |  |  |  |
Initial conversion price per share | $ / shares |  |  |  | $ 42.71 |  |  |  |  |  |  |  |  |  |
Capped call transaction, cap price per share | $ / shares |  |  |  | $ 62.12 |  |  |  |  |  |  |  |  |  |
Premium over last reported sale price percentage |  |  |  | 100.00% |  |  |  |  |  |  |  |  |  |
Number of shares covered by capped calls | shares |  |  |  | 12,878,305 |  |  |  |  |  |  |  |  |  |
Adjustments to additional paid in capital related to premium payments |  |  |  |  |  |  |  |  |  | $ 49,300,000 |  |  |  |
2020 Capped Call Transactions | Share Repurchase Transactions |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Repurchase of common stock |  |  |  | $ 75,000,000.0 |  |  |  |  |  |  |  |  |  |
Stock repurchased during period, shares | shares |  |  |  | 2,414,681 |  |  |  |  |  |  |  |  |  |
Repurchase of common stock price per share | $ / shares |  |  |  | $ 31.06 |  |  |  |  |  |  |  |  |  |
Tranche 1 Advance | Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of Term Loans after deducting debt discount and issuance costs |  |  |  |  |  |  | 431,300,000 |  |  |  |  |  |  |
Proceeds from term loan, net of issuance costs |  |  |  |  |  |  | $ 18,700,000 |  |  |  |  |  |  |
Tranche 1 Advance | Maximum | Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount |  |  |  |  |  | $ 450,000,000.0 |  |  |  |  |  |  |  |
Tranche 2 Advance | Maximum | Loan Agreement |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument face amount |  |  |  |  |  | $ 300,000,000.0 |  |  |  |  |  |  |  |
Debt instrument, amount available to be drawn |  |  |  |  |  |  |  |  |  |  |  |  | $ 100,000,000.0 |

X
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- Definition Amount paid to lenders. + References No definition available. + Details
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- Definition Debt instrument accrued interest convertible into principal. + References No definition available. + Details
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- Definition Debt instrument capped call transaction cap price per share. + References No definition available. + Details
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- Definition Debt instrument cumulative accrued interest convertible into principal. + References No definition available. + Details
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- Definition Debt Instrument Option to Purchase Additional Notes Exercised. + References No definition available. + Details
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- Definition Debt instrument prepayment premium percentage. + References No definition available. + Details
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- Definition Debt instrument principal amount denomination for conversion into common stock. + References No definition available. + Details
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- Definition Direct offering expense. + References No definition available. + Details
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- Definition Exit fees. + References No definition available. + Details
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- Definition Minimum threshold percentage of aggregate principal by trustee or holders. + References No definition available. + Details
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- Definition Number of shares covered by capped calls. + References No definition available. + Details
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- Definition Percentage of principal amount to be repurchased in fundamental change. + References No definition available. + Details
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- Definition Proceeds from issuance of notes after deducting discount and offering expenses. + References No definition available. + Details
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