Share-based Compensation and Equity - Summary of Non-vested Restricted Stock and Restricted Stock Units Activity (Details) - Restricted Stock Units (RSUs) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Shares
Non-vested, beginning of period (in shares)	691	1,000	1,251
Granted (in shares)	685	818	969
Vested (in shares)	(698)	(822)	(861)
Forfeited (in shares)	(18)	(305)	(359)
Non-vested, end of period (in shares)	660	691	1,000
Weighted Average Grant Date Fair Value
Non-vested, beginning balance (in dollars per share)	$ 14.82	$ 15.81	$ 14.69
Granted (in dollars per share)	12.15	13.98	15.80
Vested (in dollars per share)	14.05	15.01	14.11
Forfeited (in dollars per share)	12.37	15.32	15.95
Non-vested, end of period (in dollars per share)	$ 12.92	$ 14.82	$ 15.81