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Debt - Additional Information (Details)
 1 Months Ended 3 Months Ended 12 Months Ended
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