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Debt - Convertible Notes (Details) - Convertible debt - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2021
Sep. 30, 2019
Aug. 31, 2015
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   (460,000)      
Repayment of Convertible Notes (150,000,000)        
Net carrying amount   149,540,000      
1.50% Convertible senior notes due 2026          
Long-term debt          
Principal 287,500,000 287,500,000   $ 287,500,000  
Less: Debt issuance costs (4,456,000) (5,606,000)      
Less: Debt discount, net     $ 0    
Net carrying amount $ 283,044,000 $ 281,894,000