Debt - Convertible Bond Debt Narrative (Details)		12 Months Ended
	Jul. 29, 2019 USD ($) vessel	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Debt Instrument [Line Items]
Number of vessels acquired | vessel	6
Conversion premium per principal amount of notes	$ 1,000	$ 1,000
Repurchase of convertible bond debt		0	$ 14,181,000	$ 0
Loss on debt extinguishment		$ 0	4,169,000	$ 6,085,000
Convertible Bond Debt | Debt Instrument, Redemption, Period Two
Debt Instrument [Line Items]
Redemption price percentage	100.00%
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%
Convertible Debt Securities
Debt Instrument [Line Items]
Net proceeds	$ 112,500,000
Convertible Debt Securities | Convertible Bond Debt
Debt Instrument [Line Items]
Aggregate principal amount	$ 114,100,000
Stated interest rate	5.00%
Debt issuance costs	$ 1,600,000
Conversion premium (in shares) | shares		31.6207
Conversion price (in dollars per share) | $ / shares		$ 31.62
Debt repurchase amount			10,000,000
Repurchase of convertible bond debt			14,200,000
Loss on debt extinguishment			$ 4,200,000
Convertible Debt Securities | Convertible Bond Debt | Other Liabilities
Debt Instrument [Line Items]
Debt issuance costs	$ 1,000,000