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Lines of Credit and Long-Term Debt - Schedule of Components of Interest Expense (Details) - 3.5% Convertible Notes Due 2023 - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Debt Instrument [Line Items] |  |  |  |
Cash interest expense | $ 1,697 | $ 1,750 | $ 5,197 | $ 5,250
Non-cash interest expense | 338 | 3,011 | 934 | 8,641
Total interest expense | $ 2,035 | $ 4,761 | $ 6,131 | $ 13,891

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- Definition Amount of noncash expense included in interest expense to amortize debt discount and premium associated with the related debt instruments and amortization expense attributable to debt issuance costs. + References No definition available. + Details
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