Lines of Credit and Long-Term Debt - Components of Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Debt Instrument [Line Items]
Non-cash interest expense	$ 11,800
3.5% Convertible Notes Due 2023
Debt Instrument [Line Items]
Cash interest expense	5,727	$ 7,000	$ 7,000
Non-cash interest expense	1,042	11,735	10,587
Total interest expense	$ 6,769	$ 18,735	$ 17,587