Repurchase Program (Details) - USD ($)	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Equity, Class of Treasury Stock [Line Items]
Stock repurchase program, remaining authorized repurchase amount	$ 33,800,000
Shares repurchased (in shares)	0	0
Convertible Notes
Equity, Class of Treasury Stock [Line Items]
Face amount repurchased	$ 18,300,000	$ 33,100,000
Cost of repurchase	$ 18,100,000	$ 29,100,000