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Borrowings - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  |  |  |  |  | 3 Months Ended |  |  |  |  |
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Mar. 28, 2024 USD ($) | Dec. 15, 2021 USD ($) | Oct. 27, 2021 USD ($) | Aug. 24, 2021 USD ($) | Dec. 11, 2020 USD ($) TradingDay $ / shares | Jan. 16, 2020 USD ($) | Mar. 31, 2024 USD ($) $ / shares | Mar. 31, 2023 USD ($) | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Jul. 27, 2022 USD ($) | Jul. 22, 2022 USD ($) | Jan. 29, 2020 USD ($)
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Borrowings under Credit Facilities |  |  |  |  |  |  | $ 148,000 | $ 54,000 |  |  |  |  |
Repayments of lines of credit |  |  |  |  |  |  | 171,000 | 58,000 |  |  |  |  |
Line of credit facility, borrowing availability |  |  |  |  |  |  | 160,000 |  | $ 137,000 |  |  |  |
Outstanding aggregate principal amount |  |  |  |  |  |  | $ 737,500 | 616,000 |  |  |  |  |
Interest rate |  |  |  |  |  |  | 6.00% |  |  |  |  |  |
Debt instrument, conversion of principal amount |  |  |  |  |  |  | $ 48,916 |  | 48,757 |  |  |  |
2025 Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unamortized deferred financing costs, net |  |  |  |  |  |  | 1,500 |  | 2,000 |  |  |  |
Unamortized deferred finance costs |  |  |  |  |  |  | $ 1,500 |  | 2,000 |  |  |  |
Aggregate principal amount of unsecured notes |  |  |  |  |  |  |  |  |  |  | $ 7,500 | $ 50,000 |
Outstanding aggregate principal amount |  |  |  |  |  |  |  |  |  |  | $ 182,500 |  |
Debt instrument, maturity date |  |  |  |  |  | Jan. 16, 2025 |  |  |  |  |  |  |
Debt instrument, redemption, description |  |  |  |  |  |  | The 2025 Notes are redeemable, in whole or in part, at any time, or from time to time, at the Company’s option, on or after January 16, 2023 at a redemption price equal to 100% of the outstanding principal amount thereof, plus accrued and unpaid interest to, but excluding, the date of redemption. |  |  |  |  |  |
Debt instrument, redemption price, percentage of principal amount redeemed |  |  |  |  |  | 100.00% |  |  |  |  |  |  |
Interest rate |  |  |  |  |  | 7.00% |  |  |  |  |  |  |
Debt instrument, interest rate terms |  |  |  |  |  |  | The 2025 Notes bear interest at a fixed rate of 7.00% per year payable quarterly on March 15, June 15, September 15, and December 15 of each year, commencing on March 15, 2020. |  |  |  |  |  |
Financing costs capitalized and deferred |  |  |  |  |  |  | $ 7,800 |  |  |  |  |  |
2025 Notes | Unsecured Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes |  |  |  |  |  | $ 105,000 | 125,000 |  |  |  |  |  | $ 20,000
August 2026 Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unamortized deferred financing costs, net |  |  |  |  |  |  | 1,400 |  | $ 1,500 |  |  |  |
Unamortized deferred finance costs |  |  |  |  |  |  | $ 1,400 |  |  | $ 1,500 |  |  |
Debt instrument, maturity date |  |  |  | Aug. 24, 2026 |  |  |  |  |  |  |  |  |
Debt instrument, redemption, description |  |  |  |  |  |  | The August 2026 Notes are redeemable, in whole or in part, at any time, or from time to time, at the Company’s option, at a redemption price equal to the greater of (1) 100% of the principal amount of the August 2026 Notes to be redeemed or (2) the sum of the present values of the remaining scheduled payments of principal and interest (exclusive of accrued and unpaid interest to the date of redemption) on the August 2026 Notes to be redeemed, discounted to the redemption date on a semi-annual basis (assuming a 360-day year consisting of twelve 30-day months) using the applicable treasury rate plus 50 basis points, plus, in each case, accrued and unpaid interest to the redemption date; provided, however, that if the Company redeems any August 2026 Notes on or after July 24, 2026, the redemption price for the August 2026 Notes will be equal to 100% of the principal amount of the August 2026 Notes to be redeemed, plus accrued and unpaid interest, if any, to, but excluding, the date of redemption. In addition, if a change of control repurchase event (as defined in the August 2026 Notes Indenture) occurs prior to the maturity date of the August 2026 Notes or the Company’s redemption of all outstanding August 2026 Notes, the Company will be required, subject to certain conditions, to make an offer to the holders thereof to repurchase for cash some or all of the August 2026 Notes at a repurchase price equal to 100% of the principal amount of the August 2026 Notes to be repurchased, plus accrued and unpaid interest, if any, to, but excluding, the date of repurchase. |  |  |  |  |  |
Debt instrument, redemption price, percentage of principal amount redeemed |  |  |  | 100.00% |  |  |  |  |  |  |  |  |
Interest rate |  |  |  | 4.375% |  |  | 4.375% |  | 4.375% |  |  |  |
Debt instrument, interest rate terms |  |  |  |  |  |  | The August 2026 Notes bear interest at a fixed rate of 4.375% per year payable semiannually on February 15 and August 15 of each year, commencing on February 15, 2022. |  |  |  |  |  |
Financing costs capitalized and deferred |  |  |  |  |  |  | $ 2,900 |  |  |  |  |  |
August 2026 Notes | Unsecured Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes |  |  |  | $ 125,000 |  |  |  |  |  |  |  |  |
December 2026 Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unamortized deferred financing costs, net |  |  |  |  |  |  | $ 1,000 |  | $ 1,100 |  |  |  |
Unamortized deferred finance costs |  | $ 1,900 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, maturity date |  | Dec. 15, 2026 |  |  |  |  |  |  |  |  |  |  |
Debt instrument, redemption, description |  |  |  |  |  |  | The December 2026 Notes are redeemable, in whole or in part, at any time, or from time to time, at the Company’s option, at a redemption price equal to the greater of (1) 100% of the principal amount of the December 2026 Notes to be redeemed or (2) the sum of the present values of the remaining scheduled payments of principal and interest (exclusive of accrued and unpaid interest to the date of redemption) on the December 2026 Notes to be redeemed, discounted to the redemption date on a semi-annual basis (assuming a 360-day year consisting of twelve 30-day months) using the applicable treasury rate plus 50 basis points, plus, in each case, accrued and unpaid interest to the redemption date; provided, however, that if the Company redeems any December 2026 Notes on or after November 15, 2026, the redemption price for the December 2026 Notes will be equal to 100% of the principal amount of the December 2026 Notes to be redeemed, plus accrued and unpaid interest, if any, to, but excluding, the date of redemption. In addition, if a change of control repurchase event (as defined in the December 2026 Notes Indenture) occurs prior to the maturity date of the December 2026 Notes or the Company’s redemption of all outstanding December 2026 Notes, the Company will be required, subject to certain conditions, to make an offer to the holders thereof to repurchase for cash some or all of the December 2026 Notes at a repurchase price equal to 100% of the principal amount of the December 2026 Notes to be repurchased, plus accrued and unpaid interest, if any, to, but excluding, the date of repurchase. |  |  |  |  |  |
Debt instrument, redemption price, percentage of principal amount redeemed |  | 100.00% |  |  |  |  |  |  |  |  |  |  |
Interest rate |  | 4.25% |  |  |  |  | 4.25% |  | 4.25% |  |  |  |
Debt instrument, interest rate terms |  |  |  |  |  |  | The December 2026 Notes bear interest at a fixed rate of 4.25% per year payable semiannually on June 15 and December 15 of each year, commencing on June 15, 2022. |  |  |  |  |  |
December 2026 Notes | Unsecured Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes |  | $ 75,000 |  |  |  |  |  |  |  |  |  |  |
March 2029 Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unamortized deferred financing costs, net |  |  |  |  |  |  | $ 3,200 |  |  |  |  |  |
Unamortized deferred finance costs |  |  |  |  |  |  | $ 3,200 |  |  |  |  |  |
Debt instrument, maturity date | Mar. 30, 2029 |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument, redemption, description |  |  |  |  |  |  | The March 2029 Notes are redeemable, in whole or in part, at any time, or from time to time, at the Company's option on or after March 30, 2026 upon not less than 30 days’ nor more than 60 days’ written notice prior to the date fixed for redemption thereof, at a redemption price equal to 100% of the outstanding principal amount of the March 2029 Notes, plus accrued and unpaid interest payments otherwise payable for the then-current quarterly interest period accrued to, but excluding, the date fixed for redemption. In addition, if a change of control repurchase event (as defined in the March 2029 Notes Indenture) occurs prior to maturity, unless the Company has exercised its right to redeem the March 2029 Notes in full, holders will have the right, at their option, to require the Company to repurchase for cash some or all of the March 2029 Notes at a repurchase price equal to 100% of the principal amount of the March 2029 Notes being repurchased, plus accrued and unpaid interest to, but not including, the repurchase date. |  |  |  |  |  |
Debt instrument, redemption price, percentage of principal amount redeemed | 100.00% |  |  |  |  |  |  |  |  |  |  |  |
Interest rate | 7.875% |  |  |  |  |  | 7.875% |  |  |  |  |  |
Debt instrument, interest rate terms |  |  |  |  |  |  | The March 2029 Notes bear interest at a fixed rate of 7.875% per year payable quarterly on March 30, June 30, September 30 and December 30, commencing on June 30, 2024. |  |  |  |  |  |
Financing costs capitalized and deferred |  |  |  |  |  |  | $ 3,200 |  |  |  |  |  |
March 2029 Notes | Unsecured Notes |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes | $ 115,000 |  |  |  |  |  |  |  |  |  |  |  |
March 2029 Notes | Unsecured Notes | Underwriters [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes | $ 15,000 |  |  |  |  |  |  |  |  |  |  |  |
6.00% Convertible Notes due 2025 |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unamortized deferred finance costs |  |  |  |  |  |  | 638 | 1,015 |  |  |  |  |
Aggregate principal amount of unsecured notes |  |  |  |  |  |  | $ 50,000 | 50,000 |  |  |  |  |
Debt instrument, maturity date |  |  |  |  | Dec. 11, 2025 |  |  |  |  |  |  |  |
Interest rate |  |  |  |  | 6.00% |  |  |  |  |  |  |  |
Debt instrument, interest rate terms |  |  |  |  |  |  | The Convertible Notes bear interest at a fixed rate of 6.00% per year, subject to additional interest upon certain events, payable semiannually in arrears on May 1 and November 1 of each year, beginning on May 1, 2021. If an investment grade rating is not maintained with respect to the Convertible Notes, additional interest of 0.75% per annum will accrue on the Convertible Notes until such time as the Convertible Notes have received an investment grade rating of “BBB-” (or its equivalent) or better. The rating remained at investment grade as of March 31, 2024. |  |  |  |  |  |
Financing costs capitalized and deferred |  |  |  |  | $ 1,900 |  |  |  |  |  |  |  |
Additional rate of interest |  |  |  |  | 0.75% |  |  |  |  |  |  |  |
Debt instrument, date of first required payment |  |  |  |  | May 01, 2021 |  |  |  |  |  |  |  |
Debt instrument, conversion of principal amount |  |  |  |  | $ 1,000 |  | $ 48,916 | $ 48,278 |  |  |  |  |
Debt instrument, convertible, threshold consecutive trading days | TradingDay |  |  |  |  | 30 |  |  |  |  |  |  |  |
Debt instrument, convertible, threshold percentage |  |  |  |  | 120.00% |  |  |  |  |  |  |  |
Percentage of repurchase price equal to principal amount of convertible notes to be repurchased |  |  |  |  | 100.00% |  |  |  |  |  |  |  |
Percentage of estimated at time of issuance that values of debt |  |  |  |  | 99.10% |  |  |  |  |  |  |  |
Percentage of embedded conversion feature of convertible notes |  |  |  |  | 0.90% |  |  |  |  |  |  |  |
6.00% Convertible Notes due 2025 | Capital in Excess of Par Value |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Percentage of original issue discount |  |  |  |  | 0.90% |  |  |  |  |  |  |  |
Debt conversion, original issue discount of debt |  |  |  |  | $ 500 |  |  |  |  |  |  |  |
6.00% Convertible Notes due 2025 | Common Stock |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Conversion notes conversion rate |  |  |  |  | 66.6667 |  | 78.0543 |  |  |  |  |  |
Debt instrument, conversion of principal amount |  |  |  |  | $ 1,000 |  | $ 1,000 |  |  |  |  |  |
Debt instrument, initial conversion price per share | $ / shares |  |  |  |  | $ 15 |  | $ 12.81 |  |  |  |  |  |
6.00% Convertible Notes due 2025 | Private Convertible Note Offering |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Aggregate principal amount of unsecured notes |  |  |  |  | $ 50,000 |  |  |  |  |  |  |  |
KeyBank Credit Facility |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Credit facility |  |  | $ 350,000 |  |  |  | $ 190,000 |  | $ 213,000 |  |  |  |
Maximum borrowing capacity |  |  | $ 400,000 |  |  |  |  |  |  |  |  |  |
Variable advance rate on eligible term loan |  |  | 60.00% |  |  |  |  |  |  |  |  |  |
Variable advance rate on eligible finance loan |  |  | 64.00% |  |  |  |  |  |  |  |  |  |
Line of credit facility revolving period |  |  | 3 years |  |  |  |  |  |  |  |  |  |
Line of credit facility amortization period |  |  | 2 years |  |  |  |  |  |  |  |  |  |
Line of credit facility expiration date |  |  | Oct. 27, 2026 |  |  |  |  |  |  |  |  |  |
Borrowings under Credit Facilities |  |  |  |  |  |  | 148,000 |  |  |  |  |  |
Repayments of lines of credit |  |  |  |  |  |  | 171,000 |  |  |  |  |  |
Unamortized deferred financing costs, net |  |  |  |  |  |  | 3,600 |  |  |  |  |  |
Unamortized deferred finance costs |  |  |  |  |  |  | $ 2,000 |  | $ 2,100 |  |  |  |
KeyBank Credit Facility | SOFR |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Variable interest rate |  |  | 2.85% |  |  |  |  |  |  |  |  |  |

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