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, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares
Non-vested, beginning of period (in shares)	660	691	1,000
Granted (in shares)	712	685	818
Vested (in shares)	(519)	(698)	(822)
Forfeited (in shares)	(47)	(18)	(305)
Non-vested, end of period (in shares)	806	660	691
Weighted Average Grant Date Fair Value
Non-vested, beginning balance (in dollars per share)	$ 12.92	$ 14.82	$ 15.81
Granted (in dollars per share)	10.99	12.15	13.98
Vested (in dollars per share)	12.72	14.05	15.01
Forfeited (in dollars per share)	11.51	12.37	15.32
Non-vested, end of period (in dollars per share)	$ 11.43	$ 12.92	$ 14.82