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Long-Term Debt - Other (Details) - USD ($)
$ in Thousands
1 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Sep. 15, 2023
May 01, 2022
Jan. 31, 2021
Debt Instrument [Line Items]              
Interest expense   $ 21,359 $ 20,176 $ 23,489      
2023 Notes (mature September 2023)              
Debt Instrument [Line Items]              
Interest rate (as a percent)         4.125%    
Effective interest rate (as a percent)         4.80%    
Interest expense   $ 1,000 1,400 1,400      
2023 Notes Converted (mature September 2023)              
Debt Instrument [Line Items]              
Repurchase amount         $ 29,600    
Principal amount repaid         29,200    
Remaining 2023 Notes (mature September 2023)              
Debt Instrument [Line Items]              
Principal amount repaid         $ 800    
2022 Notes (matured May 2022)              
Debt Instrument [Line Items]              
Principal amount repaid           $ 35,000  
Interest rate (as a percent)           4.80%  
Interest expense     $ 600 $ 1,700      
Revolving Credit Facility Previously Maturing December 2021              
Debt Instrument [Line Items]              
Borrowing capacity $ 175,000            
Maturity date Dec. 31, 2021            
Borrowings under Revolving Credit Facility $ 0            
Term Loan Repaid September 2021              
Debt Instrument [Line Items]              
Remaining principal amount repaid $ 28,000            
Nordea Q5000 Loan Matured January 2021              
Debt Instrument [Line Items]              
Balloon payment             $ 53,600