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Debt and Credit Arrangements - 2024 Convertible Notes (Details) $ / shares in Units, shares in Thousands | 1 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Dec. 31, 2017 USD ($) | Dec. 31, 2021 USD ($) day $ / shares | Dec. 31, 2020 USD ($) | Nov. 06, 2017 USD ($) | Oct. 31, 2017 $ / shares shares
Debt Instrument |  |  |  |  |
Share price (usd per share) | $ / shares |  | $ 159.49 |  |  |
Convertible Debt | Convertible Notes, due 2024 |  |  |  |  |
Debt Instrument |  |  |  |  |
Debt instrument stated interest rate (percent) |  | 1.00% |  | 1.00% |
Principal amount |  | $ 258,800,000 | $ 258,800,000 | $ 258,800,000 |
Share conversion rate |  | 0.0170285 |  |  |
Debt instrument, conversion price (usd per share) | $ / shares |  |  |  |  | $ 58.725
Debt instrument, conversion premium (percentage) |  | 35.00% |  |  |
Share price (usd per share) | $ / shares |  |  |  |  | $ 43.50
Value of securities above principal amount of debt if converted |  | $ 444,000,000.0 |  |  |
Debt instrument, threshold for trading days | day |  | 20 |  |  |
Debt instrument, threshold for consecutive trading days | day |  | 30 |  |  |
Applicable conversion price threshold (as percentage) |  | 130.00% |  |  |
Maximum days after five trading days |  | 5 days |  |  |
Applicable conversion price, less than (as percentage) |  | 97.00% |  |  |
Trigger price (usd per share) | $ / shares |  | $ 76.3425 |  |  |
Debt instrument effective interest rate |  |  |  | 4.80% |
Non cash payment for derivative instrument | $ 59,500,000 |  |  |  |
Number of shares underlying warrant (shares) | shares |  |  |  |  | 4,410
Proceeds from issuance of warrants | $ 46,000,000.0 |  |  |  |
Percentage above previous sales price |  |  |  |  | 65.00%
Net cost of convertible note hedge and warrant |  | $ 13,500,000 |  |  |
Convertible Debt | Convertible Notes, due 2024 | Maximum |  |  |  |  |
Debt Instrument |  |  |  |  |
Debt instrument, conversion price (usd per share) | $ / shares |  | $ 71.775 |  |  | $ 71.775
Convertible Debt | Convertible Notes, due 2024 | Liability Component |  |  |  |  |
Debt Instrument |  |  |  |  |
Principal amount |  |  |  | $ 200,100,000 |
Debt issuance costs |  |  |  | 5,300,000 |
Convertible Debt | Convertible Notes, due 2024 | Equity Component |  |  |  |  |
Debt Instrument |  |  |  |  |
Principal amount |  |  |  | 58,700,000 |
Debt issuance costs |  |  |  | $ 1,500,000 |

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