Borrowing Arrangements - Narrative (Details) - USD ($)		1 Months Ended	12 Months Ended
	Apr. 21, 2022	May 31, 2019	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Feb. 16, 2021	Nov. 30, 2018
Debt Instrument [Line Items]
Debt instrument, covenant compliance			As of December 31, 2023, the Company was in compliance with its debt covenants under the Amended Credit Agreement.
Long-term borrowings			$ 352,100,000	$ 344,200,000
Redemptions of convertible debentures			0	0
Approximate redemption value of convertible debentures			$ 1,100,000	1,100,000
Interest Rate Contract
Debt Instrument [Line Items]
Interest rate collar, term		3 years
Notional amount		$ 222,300,000
Derivative, cap interest rate		2.50%
Interest paid				$ 800,000	$ 2,500,000
Letter of Credit Facility
Debt Instrument [Line Items]
Weighted average interest rate			6.50%	5.60%
Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Long-term borrowings			$ 328,600,000	$ 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
Amended Credit Agreement | Term Loan Facility
Debt Instrument [Line Items]
Maximum borrowing capacity							$ 200,000,000
Amended Credit Agreement | Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Fees and other closing cost				$ 2,500,000	$ 1,300,000
Letters of credit outstanding			$ 36,900,000
Long-term borrowings			$ 329,500,000
Senior Credit Facility | Senior Credit Facility, Net of Discount
Debt Instrument [Line Items]
Weighted average interest rate			7.00%	6.00%