Debt - Convertible Bond Debt (Details)			12 Months Ended
		Jul. 29, 2019 USD ($) vessel	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) shares		Dec. 31, 2020 USD ($) shares		Dec. 31, 2019 USD ($)
Debt Instrument [Line Items]
Number of vessels acquired | vessel		6
Loss on debt extinguishment			$ 4,169,000	$ 6,085,000		$ 0
Weighted average number of shares outstanding, diluted, adjustment (in shares) | shares			3,323,496	3,284,883		0
Adjustment to beginning retained earnings			$ 819,181,000	$ 671,266,000		$ 470,418,000		$ 481,503,000
Accumulated Deficit
Debt Instrument [Line Items]
Adjustment to beginning retained earnings			(163,556,000)	(313,495,000)		(472,138,000)		(437,074,000)
Additional paid-in Capital
Debt Instrument [Line Items]
Adjustment to beginning retained earnings			966,058,000	982,746,000	[1]	$ 943,572,000	[1]	$ 918,475,000	[1]
Cumulative Effect, Period of Adoption, Adjustment
Debt Instrument [Line Items]
Adjustment to beginning retained earnings				(12,051,000)
Cumulative Effect, Period of Adoption, Adjustment | Accumulated Deficit
Debt Instrument [Line Items]
Adjustment to beginning retained earnings				8,675,000
Cumulative Effect, Period of Adoption, Adjustment | Additional paid-in Capital
Debt Instrument [Line Items]
Adjustment to beginning retained earnings	[1]			(20,726,000)
Cumulative Effect, Period of Adoption, Adjustment | Accounting Standards Update 2020-06 | Accumulated Deficit
Debt Instrument [Line Items]
Adjustment to beginning retained earnings				8,700,000
Cumulative Effect, Period of Adoption, Adjustment | Accounting Standards Update 2020-06 | Additional paid-in Capital
Debt Instrument [Line Items]
Adjustment to beginning retained earnings				20,700,000
Convertible Debt Securities
Debt Instrument [Line Items]
Net proceeds		$ 112,500,000
Conversion premium per principal amount of notes		1,000	1,000
Convertible Debt Securities | Convertible Debt
Debt Instrument [Line Items]
Aggregate principal amount		$ 114,100,000
Stated interest rate		5.00%
Debt issuance costs		$ 1,600,000
Debt repurchase amount			10,000,000
Repurchase of Convertible Bond Debt			14,200,000
Loss on debt extinguishment			$ 4,200,000
Weighted average number of shares outstanding, diluted, adjustment (in shares) | shares			306,947
Conversion premium (in shares) | shares			30.6947
Conversion price (in dollars per share) | $ / shares			$ 32.58
Deferred financing fee			$ (620,000)	(13,165,000)
Convertible Debt Securities | Convertible Debt | Accounting Standards Update 2020-06
Debt Instrument [Line Items]
Deferred financing fee				$ 12,000,000
Convertible Debt Securities | Convertible Debt | Debt Instrument, Redemption, Period Two
Debt Instrument [Line Items]
Redemption price percentage		100.00%
Convertible Debt Securities | Convertible Debt | Other Liabilities
Debt Instrument [Line Items]
Debt issuance costs		$ 1,000,000
Credit Default Option | Unsecured Debt
Debt Instrument [Line Items]
Amount of principal amount eligible for declaration in case of default		25.00%
Amount of notes to be due and payable		100.00%

[1] * Adjusted retroactively to give effect for the 1-for-7 Reverse Stock Split that became effective as of September 15, 2020, see Note 1, General Information.