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Debt - 2016 Convertible Notes (Details Textual) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2021 USD ($) $ / shares | Dec. 31, 2020 USD ($) | Mar. 31, 2016 USD ($)
Debt Instrument [Line Items] |  |  |
Net carrying value | $ 237,500,000 | $ 14,063,000 |
Senior Convertible Notes 2016 |  |  |
Debt Instrument [Line Items] |  |  |
Senior convertible notes face amount |  |  | $ 230,000,000
Interest rate on senior convertible notes | 4.25% |  | 4.25%
Maturity date of 2016 convertible Notes | Mar. 15, 2036 |  |
Initial conversion rate of common stock | 17.7621 |  |
Convertible Notes, initial conversion of Par Value Convertible Notes to common stock | $ 1,000 |  |
Initial conversion price | $ / shares | $ 56.30 |  |
Net carrying value | $ 230,000,000.0 |  |
Minimum quarterly dividends to adjust conversion rate | $ / shares | $ 0.185 |  |
Consecutive trading days during related observation period | 40 days |  |
Observation period, start date | Jan. 12, 2022 |  |
Observation period, end date | Mar. 10, 2022 |  |
Debt instrument redemption price percentage of principal amount | 100.00% |  |

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