Financing Arrangements (Details)			3 Months Ended	12 Months Ended
	Jan. 21, 2021 USD ($)	Nov. 24, 2020 USD ($) $ / shares	Dec. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jan. 01, 2022 USD ($)	Jan. 22, 2021 USD ($)	Apr. 12, 2017 USD ($) $ / shares
Line of Credit Facility [Line Items]
Long-term debt			$ 92,615,000	$ 92,615,000	$ 141,017,000
Amortization of Debt Discount (Premium)				$ 0	0	$ 14,208,000
Debt Instrument, Covenant Compliance, Asset Coverage Ratio			1.50	1.50
Adjustments to Additional Paid in Capital, Capped Call Option, Issuance Costs		$ (10,200,000)
Option Indexed To Issuers Equity, cap price		12.0925
Payments to repurchase convertible debt		50,000,000
Interest Paid, Including Capitalized Interest, Operating and Investing Activities				$ 1,976,000	4,258,000	6,127,000
Gain (Loss) on Extinguishment of Debt			$ 3,100,000	3,092,000	$ 0	0
Debt Instrument, Repurchase Amount			46,300,000	46,300,000
Debt Instrument, Repurchased Face Amount			49,400,000	49,400,000
Letters of Credit Outstanding, Amount			5,200,000	5,200,000
Debt Instrument, Periodic Payment, Interest				2,200,000
Convertible Senior Notes due 2022 [Member]
Line of Credit Facility [Line Items]
Effective rate					1.20%
Amortization of Debt Discount (Premium)				0	$ 0	7,800,000
Repayments of Debt				125,000,000
Convertible Senior Notes due 2025 [Member]
Line of Credit Facility [Line Items]
Amortization of Debt Discount (Premium)				0	0	6,400,000
Convertible Senior Notes due 2025 [Member] | Private Placement [Member]
Line of Credit Facility [Line Items]
Debt Instrument		125,000,000
2021 Credit Facility [Member]
Line of Credit Facility [Line Items]
Credit agreement, current borrowing capacity								$ 50,000,000
Minimum Fixed Charge Coverage Ratio, minimum balance	$ 10,000,000
Line of Credit Facility, Unused Capacity, Minimum Liquidity Requirement, Amount	55,000,000
Line of Credit Facility, Unused Capacity, Qualified Cash	$ 40,000,000
Convertible Senior Notes due 2022 [Member]
Line of Credit Facility [Line Items]
Debt Instrument									$ 175,000,000
Long-term Debt, Percentage Bearing Fixed Interest, Amount							$ 2,300,000		$ 128,300,000
Interest rate									3.50%
Debt Instrument, Convertible, Conversion Price | $ / shares									$ 10.64
Convertible debt, equity portion									$ 46,700,000
Effective rate									10.50%
Debt Issuance Costs, Net									$ 5,700,000
Interest Expense, Debt				0	1,300,000	4,400,000
Amortization of Debt Issuance Costs				0	200,000	600,000
Debt Instrument, Repurchase Amount		56,200,000
Convertible Senior Notes due 2022 [Member] | Long-term Debt [Member]
Line of Credit Facility [Line Items]
Debt Issuance Costs, Gross									4,200,000
Convertible Senior Notes due 2022 [Member] | Additional Paid-in Capital [Member]
Line of Credit Facility [Line Items]
Debt Issuance Costs, Gross									$ 1,500,000
Convertible Senior Notes due 2025 [Member]
Line of Credit Facility [Line Items]
Debt Instrument		143,800,000
Long-term Debt, Percentage Bearing Fixed Interest, Amount		$ 106,900,000					$ 28,800,000
Interest rate		1.25%
Debt Instrument, Convertible, Conversion Ratio		107.1984
Convertible Debt Principal Amount Conversion		$ 1,000	$ 93,800,000	$ 93,800,000	$ 143,800,000
Debt Instrument, Convertible, Conversion Price | $ / shares		$ 9.3285
Convertible debt, equity portion		$ 36,900,000
Effective rate		7.50%	2.80%	2.80%	1.90%
Debt Issuance Costs, Net		$ 4,700,000
Percentage of conversion price of notes			130.00%
Percentage of trading price of notes			98.00%
Long-term debt			$ 92,600,000	$ 92,600,000	$ 141,000,000
Interest Expense, Debt				1,700,000	1,800,000	1,800,000
Amortization of Debt Issuance Costs				900,000	1,000,000	$ 700,000
Convertible Senior Notes due 2025 [Member] | Long-term Debt [Member]
Line of Credit Facility [Line Items]
Debt Issuance Costs, Gross		3,500,000
Debt Issuance Costs, Net			$ 1,200,000	$ 1,200,000	$ 2,800,000
Convertible Senior Notes due 2025 [Member] | Additional Paid-in Capital [Member]
Line of Credit Facility [Line Items]
Debt Issuance Costs, Gross		1,200,000
Convertible Senior Notes due 2025 [Member] | Over-Allotment Option [Member]
Line of Credit Facility [Line Items]
Debt Instrument		$ 18,800,000
Base Rate [Member] | Minimum [Member] | 2021 Credit Facility [Member]
Line of Credit Facility [Line Items]
Basis Spread on Variable Rate	0.50%
Base Rate [Member] | Maximum [Member] | 2021 Credit Facility [Member]
Line of Credit Facility [Line Items]
Basis Spread on Variable Rate	1.00%
Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Minimum [Member] | 2021 Credit Facility [Member]
Line of Credit Facility [Line Items]
Basis Spread on Variable Rate	1.50%
Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate | Maximum [Member] | 2021 Credit Facility [Member]
Line of Credit Facility [Line Items]
Basis Spread on Variable Rate	2.00%