Financing Agreements - Convertible Senior Notes (Details)		12 Months Ended
	Jun. 03, 2019 USD ($) $ / shares	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($) shares	Feb. 28, 2023 USD ($)
Convertible Debt
Debt Instrument [Line Items]
Proceeds from issuance of Series C Preferred Stock	$ 230,000,000
Proceed from debt net of offering expenses and underwriting discount	$ 223,300,000
Stated interest rate (as a percent)	6.25%
Conversion ratio	31.4346
Face amount	$ 1,000
Conversion price (in dollars per share) | $ / shares	$ 31.81
Effective interest rate	6.94%
Additional Convertible Senior Notes
Debt Instrument [Line Items]
Proceeds from issuance of Series C Preferred Stock	$ 30,000,000
6.25% Convertible Senior Notes | Convertible Debt
Debt Instrument [Line Items]
Stated interest rate (as a percent)		6.25%
Debt conversion, converted instrument, amount			$ 11,000
Debt conversion, converted instrument, shares issued (in shares) | shares			345
Authorized repurchase amount				$ 100,000,000
Principal amount of debt repurchased		$ 20,400,000
Debt instrument, repurchase amount		20,200,000
Gain on repurchase of debt instrument		89,000
Outstanding amount of debt		$ 209,600,000