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Notes Payable and Long-Term Debt, 2021 Revolving Credit Facility (Details)
$ in Millions
9 Months Ended
Sep. 30, 2023
USD ($)
Mar. 31, 2023
Dec. 31, 2022
Feb. 11, 2021
USD ($)
Amended Revolving Credit Facility [Member]        
Notes Payable and Long-Term Debt [Abstract]        
Maximum borrowing capacity       $ 25.0
Amount drawn under credit facility $ 0.0      
Letters of credit outstanding $ 1.4      
Maturity date Aug. 11, 2025      
Period prior to maturity date of Convertible Senior Notes 91 days      
Consolidated Leverage Ratio   5.25 5.5  
Exclusion threshold for letters of credit $ 5.0      
Threshold percentage of total commitments outstanding 35.00%      
Debt issuance costs $ 0.5      
Amended Revolving Credit Facility [Member] | Eurodollar [Member]        
Notes Payable and Long-Term Debt [Abstract]        
Margin on variable rate 3.50%      
Amended Revolving Credit Facility [Member] | SOFR [Member]        
Notes Payable and Long-Term Debt [Abstract]        
Margin on variable rate 3.50%      
Letters of Credit [Member]        
Notes Payable and Long-Term Debt [Abstract]        
Maximum borrowing capacity       $ 10.0