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Financing Arrangements - Convertible Notes (Details)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
May 04, 2020
Jul. 31, 2022
USD ($)
shares
Dec. 31, 2023
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
May 31, 2020
Debt Instrument [Line Items]            
Issuance of common stock related to convertible notes     $ 0.0 $ 0.5 $ 0.0  
Convertible Notes | Senior Notes            
Debt Instrument [Line Items]            
Debt instrument, interest rate, stated percentage     2.75%     2.75%
Debt instrument, convertible, conversion ratio 0.0568 0.0568        
Debt instrument, convertible, conversion price (in dollars per share) | $ / shares     $ 17.62      
Convertible Notes | Convertible Debt            
Debt Instrument [Line Items]            
Issuance of common stock related to convertible notes   $ 0.5        
Debt conversion, converted instrument, shares issued | shares   25,602