Financing Agreements - Convertible Senior Notes (Details)			3 Months Ended	12 Months Ended
	Jan. 11, 2024 USD ($)	Jun. 03, 2019 USD ($) $ / shares	Mar. 31, 2024 USD ($)	Dec. 31, 2023 USD ($)	Feb. 28, 2023 USD ($)
Convertible Debt | 6.25% Convertible Senior Notes
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%	6.25%
Conversion ratio		31.4346
Debt instrument, face amount		$ 1,000
Conversion price (in dollars per share) | $ / shares		$ 31.81
Effective interest rate		6.94%
Authorized repurchase amount					$ 100,000,000
Principal amount of debt repurchased			$ 39,900,000	$ 20,400,000
Debt instrument, repurchase amount			39,800,000	20,200,000
Gain (loss) on repurchase of debt instrument			(100,000)	$ 100,000
Outstanding amount of debt			$ 169,700,000
Convertible Debt | Additional Convertible Senior Notes
Debt Instrument [Line Items]
Proceeds from issuance of Series C Preferred Stock		$ 30,000,000
Senior Notes | 8.875% Senior Notes Due 2029
Debt Instrument [Line Items]
Proceed from debt net of offering expenses and underwriting discount	$ 110,600,000
Stated interest rate (as a percent)	8.875%		8.875%
Debt instrument, face amount	$ 115,000,000
Effective interest rate	9.82%
Redemption price as percentage of principal amount	100.00%
Senior Notes | 8.875% Senior Notes Due 2029 | Underwriters
Debt Instrument [Line Items]
Stated interest rate (as a percent)	8.875%
Debt instrument, face amount	$ 15,000,000