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Debt Instruments - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Debt Disclosure [Abstract]          
Interest expense $ 0.6 $ 0.8 $ 2.2 $ 2.7  
Total estimated fair value of the notes $ 407.0   $ 407.0   $ 517.5