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Financing Arrangements - Convertible Senior Notes (Details)
1 Months Ended 12 Months Ended
May 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
$ / shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
May 04, 2020
USD ($)
$ / shares
Debt Instrument [Line Items]          
Debt issuance costs, net   $ 8,527,000      
Debt instrument, payment for capped call transactions $ 31,775,000        
Debt instrument, convertible, conversion ratio   0.0567698      
Debt instrument, capped call transaction cap price (in dollars per share) | $ / shares         $ 27.10
Amortization of debt issuance costs   $ 4,200,000 $ 3,262,000 $ 0  
Debt discount amortization   6,331,000 $ 0 $ 0  
Convertible Senior Notes, Liability Component          
Debt Instrument [Line Items]          
Debt issuance costs, net   6,006,000      
Convertible Senior Notes, Equity Component          
Debt Instrument [Line Items]          
Debt issuance costs, net   2,521,000      
Convertible Senior Notes          
Debt Instrument [Line Items]          
Debt instrument, face amount         $ 258,750,000
Debt instrument, interest rate, stated percentage         2.75%
Interest expense, debt   11,574,000      
Long-term debt outstanding   183,126,000     $ 182,242,000
Unamortized debt issuance expense   5,504,000      
Debt instrument, unamortized discount   $ 70,120,000      
Debt instrument, convertible, remaining discount amortization period   5 years 3 months 18 days      
Debt instrument, convertible, beneficial conversion feature   $ 76,508,000      
Debt instrument, convertible, conversion price (in dollars per share) | $ / shares   $ 17.62      
Debt instrument, convertible, conversion ratio   56.7698      
Debt instrument, average market price per share (in dollars per share) | $ / shares   $ 18.91      
Amortization of debt issuance costs   $ 502,000      
Debt discount amortization   $ 6,388,000