Long-Term Debt - Convertible Senior Notes Due 2023 (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) $ / shares shares	Jun. 30, 2022 USD ($)
Debt Instrument [Line Items]
Interest expense	$ 4,857,000	$ 5,034,000	$ 9,726,000	$ 10,341,000
Amortization of debt issuance costs			$ 1,199,000	1,161,000
2023 Notes (mature September 2023)
Debt Instrument [Line Items]
Interest rate (as a percent)	4.125%		4.125%
Frequency of periodic payment			semi-annually
Maturity date			Sep. 15, 2023
Initial conversion ratio			0.1056133
Aggregate number of shares | shares			3,168,399
Initial conversion price per share (USD per share) | $ / shares	$ 9.47		$ 9.47
Increase in the conversion rate			0.0475260
Redemption price as a percentage of principal amount			100.00%
Effective interest rate (as a percent)	4.80%		4.80%
Interest expense	$ 300,000	300,000	$ 700,000	700,000
Coupon interest expense	$ 300,000	$ 300,000	600,000	600,000
Amortization of debt issuance costs			$ 100,000	$ 100,000
2023 Notes (mature September 2023) | Maximum
Debt Instrument [Line Items]
Percentage of closing price of common stock to conversion price			130.00%
Number of trading days			20
Number of consecutive trading days			30