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Loss per Share - Anti-Dilutive Securities (Details) - $ / shares
shares in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                              
Total anti-dilutive securities (in shares)                         13,684 12,278 13,333
Dividends per common share (in dollars per share) $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 0.25 $ 1.00 $ 1.00 $ 1.00
Stock options                              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                              
Total anti-dilutive securities (in shares)                         231 586 612
Restricted stock and performance shares                              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                              
Total anti-dilutive securities (in shares)                         6,711 4,950 5,979
Convertible preferred stock                              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]                              
Total anti-dilutive securities (in shares)                         6,742 6,742 6,742