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Debt - Convertible Notes (Details) - USD ($)	Sep. 30, 2021	Jan. 01, 2021	Dec. 31, 2020	Sep. 30, 2019	Aug. 31, 2015
3.00% Convertible senior notes due 2022
Long-term debt
Less: Debt discount, net		$ 0
3.00% Convertible senior notes due 2022 | Convertible debt
Long-term debt
Principal	$ 150,000,000		$ 150,000,000		$ 150,000,000.0
Less: Debt issuance costs	(642,000)		(865,000)
Less: Debt discount, net			(17,372,000)
Net carrying amount	149,358,000		131,763,000
1.50% Convertible senior notes due 2026
Long-term debt
Less: Debt discount, net		$ 0
1.50% Convertible senior notes due 2026 | Convertible debt
Long-term debt
Principal	287,500,000		287,500,000	$ 287,500,000
Less: Debt issuance costs	(5,896,000)		(4,058,000)
Less: Debt discount, net			(106,065,000)
Net carrying amount	$ 281,604,000		$ 177,377,000

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