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Debt - Convertible Notes (Details) - Convertible debt - USD ($)
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2019
Aug. 31, 2015
3.00% Convertible senior notes due 2022        
Long-term debt        
Principal       $ 150,000,000.0
1.50% Convertible senior notes due 2026        
Long-term debt        
Principal $ 287,500,000 $ 287,500,000 $ 287,500,000  
Less: Debt issuance costs (4,168,000) (4,456,000)    
Net carrying amount $ 283,332,000 $ 283,044,000