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Shareholders' Equity (Details) - USD ($)
 12 Months Ended 93 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2022
Mar. 31, 2016
Dec. 31, 2011
Dec. 31, 2008
Class of Stock [Line Items]              
Common stock, shares authorized (shares) 195,000,000 195,000,000   195,000,000      
Common stock, par value (in dollars per share) $ 0.01 $ 0.01   $ 0.01      
Common stock, shares issued (shares) 99,510,499 98,418,132   99,510,499      
Common stock, shares outstanding (shares) 92,323,978 91,231,611   92,323,978      
Preferred stock, shares authorized (shares) 5,000,000 5,000,000   5,000,000      
Preferred stock, shares issued (shares)             160,000
Shares, outstanding (in shares) 92,323,978 91,231,611 90,055,797 92,323,978      
Conversion of convertible preferred stock (shares) 100     100      
Liquidation preference (in dollars per share) $ 0.01     $ 0.01      
Authorized repurchase amount $ 130,000,000     $ 130,000,000   $ 60,000,000  
Additional repurchase amount         $ 70,000,000    
Repurchase of common stock (shares) 7,186,521     0      
Treasury stock acquired, aggregate purchase price $ 86,300,000            
Remaining authorized repurchase amount $ 43,700,000     $ 43,700,000      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 91,231,611 90,055,797          
Ending balance (shares) 92,323,978 91,231,611 90,055,797 92,323,978      
Series A Convertible Preferred Stock              
Class of Stock [Line Items]              
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01   $ 0.01      
Shares, outstanding (in shares) 53,854 58,542 63,589 53,854      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 58,542 63,589 67,323        
Conversion of convertible preferred stock (shares) 4,688 5,047 3,734        
Ending balance (shares) 53,854 58,542 63,589 53,854      
Treasury              
Class of Stock [Line Items]              
Shares, outstanding (in shares) 7,186,521 7,186,521 7,186,521 7,186,521      
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares) 7,186,521 7,186,521 7,186,521        
Ending balance (shares) 7,186,521 7,186,521 7,186,521 7,186,521      
Common stock              
Class of Stock [Line Items]              
Shares, outstanding (in shares)              
Increase (Decrease) in Stockholders' Equity [Roll Forward]              
Beginning balance (shares)     89,185,661        
Conversion of convertible preferred stock (shares) 468,785 504,596 373,416        
Issuance for share-based compensation plans (shares) 623,582 671,218 496,720