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Long-term Debt - 2021 Notes (Details) - USD ($)
1 Months Ended 12 Months Ended
Aug. 11, 2022
Dec. 01, 2021
Aug. 31, 2020
Dec. 31, 2016
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Debt Instrument [Line Items]              
Repayment and repurchase of 2021 Notes and financing fees         $ 0 $ 429,000 $ 16,606,000
Senior Notes              
Debt Instrument [Line Items]              
Payments of debt issuance costs     $ 2,500,000        
Net loss on extinguishment of debt, including fees paid to lenders     (4,800,000)        
Senior Notes | 2021 Notes              
Debt Instrument [Line Items]              
Face amount       $ 125,000,000      
Interest rate       2.00%      
Proceeds from issuance of debt       $ 120,400,000      
Debt issuance costs       $ 4,600,000      
Debt conversion, converted instrument, amount   $ 26,700,000          
Debt conversion, original debt, amount $ 92,800,000 26,300,000 84,200,000        
Payments of debt issuance costs   $ 400,000          
Face amount of debt repaid     14,000,000        
Repayment and repurchase of 2021 Notes and financing fees     13,900,000        
Senior Notes | 2024 Notes              
Debt Instrument [Line Items]              
Face amount     $ 117,100,000   $ 24,281,000 $ 117,051,000  
Interest rate     3.50%        
Debt issuance costs     $ 3,000,000        
Debt conversion, converted instrument, amount     $ 84,200,000