Stockholders' Equity - Stock Repurchase Program (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Mar. 11, 2022	Nov. 30, 2020
Stockholders' Equity Note [Abstract]
Stock repurchase program, authorized amount				$ 250,000,000	$ 250
Shares repurchased and retired (in shares)	6,476,746	5,025,374	3,521,420
Average cost per share (usd per share)	$ 15.80	$ 17.04	$ 14.44
Cost for shares repurchased	$ 102,100,000	$ 85,600,000	$ 50,800,000
Payments for fees and commissions paid to the sales agent	161,000	$ 201,000	$ 141,000
Warrants repurchased (in shares)			4,398,394
Remaining authorized repurchase amount	$ 202,500,000		$ 33,700,000