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Financing Agreements - Convertible Senior Notes (Details) - Convertible Debt
 1 Months Ended
Jun. 03, 2019
USD ($)
$ / shares
Sep. 30, 2023
USD ($)
Feb. 28, 2023
USD ($)
6.25% Convertible Senior Notes      
Debt Instrument [Line Items]      
Proceeds from issuance of Series C Preferred Stock $ 230,000,000    
Proceed from debt net of offering expenses and underwriting discount $ 223,300,000    
Stated interest rate (as a percent) 6.25% 6.25%  
Conversion ratio 31.4346    
Debt instrument, face amount $ 1,000    
Conversion price (in dollars per share) | $ / shares $ 31.81    
Effective interest rate 6.94%    
Authorized repurchase amount     $ 100,000,000
Principal amount of debt repurchased   $ 10,400,000  
Debt instrument, repurchase amount   10,300,000  
Gain (loss) on repurchase of debt instrument   41,000  
Outstanding amount of debt   $ 219,589,000  
Additional Convertible Senior Notes      
Debt Instrument [Line Items]      
Proceeds from issuance of Series C Preferred Stock $ 30,000,000