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Convertible Senior Notes, Net (Details)
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
USD ($)
$ / shares
Mar. 31, 2023
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2019
USD ($)
Jun. 30, 2023
USD ($)
$ / shares
Jun. 30, 2022
USD ($)
Dec. 31, 2017
USD ($)
offering
Dec. 31, 2022
USD ($)
Sep. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2018
USD ($)
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent $ 2,214,991,000 $ 2,347,561,000 $ 2,273,312,000   $ 2,214,991,000 $ 2,273,312,000   $ 2,354,504,000   $ 2,251,018,000 $ 2,294,626,000  
Realized gain on extinguishment of debt 252,000   0   465,000 0            
Adjustment due to Adoption of ASU                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent [1]                     (3,416,000)  
Common Stock                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent $ 1,413,000 1,413,000 1,406,000   $ 1,413,000 1,406,000   1,406,000   1,405,000 1,399,000  
Share price (in dollars per share) | $ / shares $ 11.32       $ 11.32              
Additional Paid-In-Capital                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent $ 2,718,920,000 2,714,555,000 2,707,872,000   $ 2,718,920,000 2,707,872,000   2,716,907,000   2,703,354,000 2,721,042,000  
Additional Paid-In-Capital | Adjustment due to Adoption of ASU                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent [1]                     (15,408,000)  
Accumulated Deficit                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent (505,410,000) (368,475,000) (436,034,000)   (505,410,000) (436,034,000)   (363,877,000)   $ (453,809,000) (427,883,000)  
Accumulated Deficit | Adjustment due to Adoption of ASU                        
Debt Instrument [Line Items]                        
Stockholders' equity attributable to parent [1]                     11,992,000  
2023 Notes                        
Debt Instrument [Line Items]                        
Debt instrument, repurchase amount $ 36,800,000 $ 7,100,000     36,800,000              
Debt instrument, redemption price, percentage 99.30% 97.00%                    
Realized gain on extinguishment of debt $ 300,000       500,000              
Convertible Debt                        
Debt Instrument [Line Items]                        
Debt instrument, face amount 186,064,000       186,064,000     230,000,000        
Interest expense 2,800,000   7,200,000   5,800,000 14,400,000            
Non-cash interest expense 400,000   $ 800,000   800,000 $ 1,500,000            
Convertible Debt | 2022 Notes                        
Debt Instrument [Line Items]                        
Number of debt offerings issued | offering             2          
Debt instrument, face amount             $ 345,000,000   $ 345,000,000      
Stated interest rate             4.75%          
Proceeds from convertible debt             $ 337,500,000          
Convertible Debt | 2022 Notes | Additional Paid-In-Capital                        
Debt Instrument [Line Items]                        
Convertible debt, carrying amount of equity component                     11,000,000  
Convertible Debt | 2023 Notes                        
Debt Instrument [Line Items]                        
Debt instrument, face amount $ 186,064,000       $ 186,064,000     $ 230,000,000       $ 230,000,000
Stated interest rate 5.38%       5.38%     5.38%       5.375%
Proceeds from convertible debt       $ 223,700,000                
Convertible senior notes, net $ 185,900,000       $ 185,900,000              
Unamortized discount $ 200,000       $ 200,000              
Convertible Debt | 2023 Notes | Additional Paid-In-Capital                        
Debt Instrument [Line Items]                        
Convertible debt, carrying amount of equity component                     4,400,000  
Convertible Debt | 2022 and 2023 Notes | Additional Paid-In-Capital                        
Debt Instrument [Line Items]                        
Convertible debt, carrying amount of equity component                     $ 15,400,000  
[1] Refer to "Note 10 - Convertible Senior Notes, Net" for detail