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Debt Obligations - Convertible Senior Unsecured Notes (Details)
 1 Months Ended 12 Months Ended
Aug. 31, 2022
USD ($)
$ / shares
shares
Aug. 31, 2021
USD ($)
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Oct. 31, 2022
Debt Obligations                
Loss on extinguishment of debt     $ (4,933,000) $ (3,374,000) $ (3,546,000)      
Convertible Debt [Member]                
Debt Obligations                
Debt, Face Value (UPB)     $ 287,500,000 264,000,000        
Percentage of the Notes required to be repurchased if the agreement is fundamentally changed     100.00%          
Unamortized Debt Discount       2,520,000        
Unamortized deferred financing fees     $ 7,144,000 2,095,000        
Total     280,356,000 259,385,000        
Net Carrying Value, Equity Component       8,684,000        
Interest expense     19,800,000,000 18,600,000 20,000,000.0      
Interest expense related to cash coupon     16,900,000,000 12,800,000 13,400,000      
Debt discount     $ 2,900,000,000 3,200,000 3,000,000.0      
Deferred fees expensed as interest expense       $ 2,600,000 3,600,000      
Cost of the notes (as a percent)     8.42% 6.71%        
Cost of the notes excluding the amortization of the debt discount (as a percent)       5.73%        
7.50% convertible notes                
Debt Obligations                
Debt, Face Value (UPB) $ 287,500,000              
Interest rate (as a percent) 7.50%              
Proceeds received, net of estimated issuance costs $ 279,300,000              
Conversion rate of the notes to common stock, per $1,000 principal amount of notes 59.8480              
Conversion price per share of common stock | $ / shares $ 16.71              
7.50% convertible notes | First Offering                
Debt Obligations                
Debt, Face Value (UPB) $ 1,000              
4.75% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 1,000     $ 110,000,000.0    
Proceeds from issued debt           $ 108,200,000    
Interest rate (as a percent) 4.75%         4.75%    
Proceeds received, net of estimated issuance costs $ 203,100,000              
Common stock exchanged (in shares) | shares 59.8892              
Conversion price per share of common stock | $ / shares     $ 16.70          
Senior Notes [Member]                
Debt Obligations                
Debt, Face Value (UPB)     $ 1,399,600,000 $ 1,295,750,000        
Unamortized deferred financing fees     13,600,000 15,200,000        
8.00% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 70,750,000 70,750,000 70,800,000      
Proceeds from issued debt         $ 69,600,000      
Interest rate (as a percent)     8.00%   8.00%      
4.50% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)   $ 270,000,000.0 $ 270,000,000 270,000,000 $ 275,000,000.0      
Proceeds from issued debt   $ 265,800,000     $ 271,800,000      
Interest rate (as a percent)   4.50% 4.50%   4.50%      
5.25% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 66,100,000          
Interest rate (as a percent) 4.75%   4.75%          
5.75% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 90,000,000 90,000,000   $ 90,000,000.0    
Proceeds from issued debt           $ 88,200,000    
Interest rate (as a percent)     5.75%     5.75%    
4.75% and 5.25% Convertible Notes                
Debt Obligations                
Notes and accrued interest settled $ 5,200,000              
Common stock exchanged (in shares) | shares 3.3              
Loss on extinguishment of debt     $ 7,500,000          
5.625% Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 78,850,000 125,000,000     $ 125,000,000.0  
Proceeds from issued debt             $ 122,300,000  
Interest rate (as a percent)     5.625%       5.625% 5.625%
5.00% Convertible Notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 175,000,000 175,000,000        
Proceeds from issued debt       $ 172,300,000        
Interest rate (as a percent)     5.00% 5.00%        
Junior subordinated notes                
Debt Obligations                
Debt, Face Value (UPB)     $ 154,336,000 $ 154,336,000        
Deferred fees expensed as interest expense     $ 1,600,000 $ 1,700,000