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Debt - Convertible Notes (Details) - Convertible debt - USD ($) | Dec. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Aug. 31, 2015
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3.00% Convertible senior notes due 2022 |  |  |  |
Long-term debt |  |  |  |
Principal | $ 150,000,000 | $ 150,000,000 |  | $ 150,000,000.0
Less: Debt issuance costs | (865,000) | (1,329,000) |  |
Less: Debt discount, net | (17,372,000) | (26,686,000) |  |
Net carrying amount | 131,763,000 | 121,985,000 |  |
1.50% Convertible senior notes due 2026 |  |  |  |
Long-term debt |  |  |  |
Principal | 287,500,000 | 287,500,000 | $ 287,500,000 |
Less: Debt issuance costs | (4,058,000) | (4,567,000) |  |
Less: Debt discount, net | (106,065,000) | (119,350,000) |  |
Net carrying amount | $ 177,377,000 | $ 163,583,000 |  |

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