Long-Term Debt - Convertible Senior Notes Due 2026 (Details)	1 Months Ended	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)	Jan. 31, 2024 USD ($)
Debt Instrument [Line Items]
Interest expense		$ 21,359,000	$ 20,176,000	$ 23,489,000
Amortization of debt issuance costs		2,485,000	2,334,000	3,179,000
Cash paid for repurchase of debt		261,147,000	35,000,000
Loss on extinguishment of long-term debt		37,277,000		136,000
Unamortized debt discount	$ 1,404,000	$ 1,404,000
2026 Notes (mature February 2026)
Debt Instrument [Line Items]
Interest rate (as a percent)	6.75%	6.75%
Maturity date		Feb. 15, 2026
Frequency of periodic payment		semi-annually
Initial conversion ratio		0.1433795
Aggregate number of shares | shares		28,675,900
Initial conversion price per share (USD per share) | $ / shares	$ 6.97	$ 6.97
Effective interest rate (as a percent)	7.60%	7.60%
Interest expense		$ 14,600,000	14,800,000	14,700,000
Coupon interest expense		13,300,000	13,500,000	13,500,000
Amortization of debt issuance costs		$ 1,300,000	$ 1,300,000	$ 1,200,000
Increase in the conversion rate		0.0645207
Redemption price as a percentage of principal amount		100.00%
Principal amount repurchased	$ 159,800,000	$ 159,800,000
Cash paid for repurchase of debt		$ 229,700,000
Shares issued for repurchase of debt (in shares) | shares		1,500,000
Accrued and unpaid cash interest		$ 3,800,000
Loss on extinguishment of long-term debt		37,400,000
Principal amount tendered for conversion	$ 200,000	$ 200,000
2026 Notes (mature February 2026) | Subsequent Event
Debt Instrument [Line Items]
Principal amount subject to redemption					$ 40,000,000.0
2026 Notes (mature February 2026) | 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
2026 Notes (mature February 2026) | Minimum
Debt Instrument [Line Items]
Percentage of closing price of common stock to conversion price		97.00%
Number of trading days		5
Number of consecutive trading days		10