Borrowing Arrangements - Narrative (Details) - USD ($)		9 Months Ended	12 Months Ended
	Apr. 21, 2022	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022	Feb. 16, 2021	Nov. 30, 2018
Debt Instrument [Line Items]
Debt instrument, covenant compliance		As of September 30, 2023, the Company was in compliance with its debt covenants under the Amended Credit Agreement.
Long-term borrowings		$ 359,800,000	$ 344,200,000
Redemptions of convertible debentures		0	0
Approximate redemption value of convertible debentures		$ 1,100,000	1,100,000
Letter of Credit Facility
Debt Instrument [Line Items]
Weighted average interest rate		6.70%		4.60%
Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Long-term borrowings		$ 337,700,000	$ 322,300,000
Convertible Subordinated Debt
Debt Instrument [Line Items]
Redemption price upon stated maturity (in dollars per share)		$ 19.18
Convertible debentures maturity per share		$ 25
Amended Credit Agreement
Debt Instrument [Line Items]
Maximum borrowing capacity					$ 600,000,000
Line of credit facility, expiration date	Apr. 21, 2027
Amended Credit Agreement | Revolving Credit Facility
Debt Instrument [Line Items]
Maximum borrowing capacity					400,000,000
Amended Credit Agreement | Letter of Credit Facility
Debt Instrument [Line Items]
Maximum borrowing capacity					$ 100,000,000.0
Amended Credit Agreement | Term Loan Facility
Debt Instrument [Line Items]
Maximum borrowing capacity						$ 200,000,000.0
Amended Credit Agreement | Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Letters of credit outstanding		$ 39,100,000
Long-term borrowings		$ 338,800,000
Senior Credit Facility | Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Weighted average interest rate		7.20%		4.90%