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Debt - Convertible Notes (Details) - 1.50% Convertible senior notes due 2026 - Convertible debt - USD ($)	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2019
Long-term debt
Principal	$ 287,500,000	$ 287,500,000	$ 287,500,000
Less: Debt issuance costs	(3,584,000)	(4,456,000)
Net carrying amount	$ 283,916,000	$ 283,044,000

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