Debt and Credit Arrangements - Fair Value Disclosure (Details)	Dec. 31, 2023	Dec. 31, 2022
Convertible notes due November 2024 | Convertible Debt
Debt Instrument
Debt instrument percentage over par value	234.00%	201.00%
Senior secured notes due 2030 | Secured Debt
Debt Instrument
Debt instrument percentage over par value	105.00%	101.00%
Senior unsecured notes due 2031 | Unsecured Debt
Debt Instrument
Debt instrument percentage over par value	109.00%	103.00%
Term loans due March 2030
Debt Instrument
Debt instrument percentage over par value	100.00%	0.00%