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Fair Value of Financial Instruments (Tables)
12 Months Ended
Dec. 31, 2021
Fair Value Disclosures [Abstract]  
Schedule of carrying values and estimated fair values of debt instruments
The carrying values and the estimated fair values of debt financial instruments as of December 31 are as follows:
20212020
Carrying ValueFair ValueCarrying ValueFair Value
Convertible senior notes$411,863 $410,771 $— $—