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Repurchase Program (Details) - USD ($)
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Equity, Class of Treasury Stock [Line Items]    
Stock and debt instrument , repurchase program remaining authorized repurchase amount $ 23,800,000  
Shares repurchased (in shares) 0 0
Convertible Notes    
Equity, Class of Treasury Stock [Line Items]    
Face amount repurchased $ 28,300,000 $ 33,100,000
Cost of repurchase $ 28,100,000 $ 29,100,000