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Summary of Significant Accounting Policies and New Accounting Guidance - New Accounting Guidance (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Jan. 01, 2021
Dec. 31, 2020
Debt Instrument [Line Items]          
Increase in deferred tax asset $ 238,076 $ 219,955      
Total equity 581,549 730,513 $ 752,917   $ 796,566
Cumulative effect of change in accounting principle          
Debt Instrument [Line Items]          
Total equity         (39,762)
Additional Paid-In Capital          
Debt Instrument [Line Items]          
Total equity 742,981 717,102 713,599   738,481
Additional Paid-In Capital | Cumulative effect of change in accounting principle          
Debt Instrument [Line Items]          
Total equity         (55,349)
Retained Earnings          
Debt Instrument [Line Items]          
Total equity 1,462,070 1,492,046 $ 1,441,105   1,413,969
Retained Earnings | Cumulative effect of change in accounting principle          
Debt Instrument [Line Items]          
Total equity         $ 15,587
Convertible Debt          
Debt Instrument [Line Items]          
Long-term debt $ 578,752 $ 576,404      
Accounting Standards Update 2020-06 | Additional Paid-In Capital | Cumulative effect of change in accounting principle          
Debt Instrument [Line Items]          
Total equity       $ 55,400  
Accounting Standards Update 2020-06 | Retained Earnings | Cumulative effect of change in accounting principle          
Debt Instrument [Line Items]          
Total equity       51,600  
Accounting Standards Update 2020-06 | Convertible Debt          
Debt Instrument [Line Items]          
Increase in deferred tax asset       10,400  
Long-term debt       50,200  
Unamortized discount       15,600  
Debt issuance costs equity component, net       $ 1,400