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Long-term Debt - 2024 Notes (Details) - Senior Notes
$ / shares in Units, shares in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Aug. 31, 2020
USD ($)
shares
$ / shares
Dec. 31, 2016
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Dec. 30, 2019
Debt Instrument [Line Items]                
Payments of debt issuance costs $ 2,500,000              
2024 Notes                
Debt Instrument [Line Items]                
Face amount $ 117,100,000   $ 117,051,000   $ 117,051,000   $ 117,051,000  
Interest rate 3.50%              
Debt conversion, converted instrument, amount $ 84,200,000              
Debt issuance costs $ 3,000,000              
Interest expense     1,000,000.0   3,000,000      
Conversion price (in dollars per share) | $ / shares $ 18.23              
Initial conversion amount (in shares) | shares 6.4              
Long-term debt, net of discount $ 78,900,000              
Debt issuance costs, net, debt component $ 1,700,000              
Non-cash amortization of debt discount and debt issuance costs     2,000,000   5,900,000      
Repurchase covenant, repurchase price due to fundamental change as percentage of principal amount 100.00%              
Repurchase covenant, sale price as a percentage of conversion price 130.00%              
Repurchase covenant, trading days, minimum 20 days              
Repurchase covenant, consecutive trading days, minimum 30 days              
Repurchase covenant, repurchase price due to change in sale price as percentage of conversion price 100.00%              
2024 Notes | Common Stock                
Debt Instrument [Line Items]                
Debt issuance costs $ 1,300,000              
Proceeds from issuance of debt 38,100,000              
2021 Notes                
Debt Instrument [Line Items]                
Face amount   $ 125,000,000 26,737,000   26,737,000   $ 26,737,000  
Interest rate   2.00%           2.00%
Debt conversion, original debt, amount 84,200,000              
Debt issuance costs   $ 4,600,000            
Interest expense     $ 100,000 $ 300,000 $ 400,000 $ 1,500,000    
Proceeds from issuance of debt   $ 120,400,000            
Repurchase covenant, repurchase price due to fundamental change as percentage of principal amount   100.00%            
New Notes                
Debt Instrument [Line Items]                
Debt conversion, converted instrument, amount $ 32,800,000