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
Mar. 31, 2022	Mar. 31, 2021
Debt Instrument [Line Items]
Cash interest expense	$ 1,750	$ 1,750
Non-cash interest expense	284	2,751
Total interest expense	$ 2,034	$ 4,501

Amount of the cost of borrowed funds accounted for as interest expense for debt.

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Name:	us-gaap_InterestExpenseDebt
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration