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Earnings Per Share - Anti-dilutive Securities (Details) - shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Employee Stock Option [Member]        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 749,443 1,061,235 395,405 2,156,501
Restricted stock units        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 979,200 523,991 977,250 1,960,160
Performance share units        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 503,880 447,770 503,880 447,770
Employee stock purchase plan.        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares) 19,094 11,553 19,094  
Warrants        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares)   1,041,667   1,041,667
Convertible senior notes        
Anti-dilutive securities        
Dilutive securities excluded from the calculation of diluted earnings per share (in shares)   4,925,134 7,509,104 4,925,134