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Summary of Significant Accounting Policies - Antidilutive Securities Table (Details) - shares | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 17,943,035 | 16,654,503 | 16,190,768
Options to purchase common stock |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 12,221,548 | 10,488,993 | 8,906,624
Service-based restricted stock units |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 2,556,257 | 2,448,868 | 2,558,052
Performance-based restricted stock units |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 111,941 | 663,353 | 663,353
Convertible preferred stock |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 3,309 | 3,309 | 3,309
Convertible Debt Securities | 6.50% Convertible Senior Notes Due 2024 |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 3,049,980 | 3,049,980 | 3,049,980
Convertible Debt Securities | December 2019 Bonds |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Total antidilutive securities (shares) | 0 | 0 | 1,009,450

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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 260 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=124432515&loc=d3e3550-109257 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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