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v3.24.0.1

Financing Agreements - Convertible Senior Notes (Details) |  | 12 Months Ended |
--- | --- | --- | ---
Jun. 03, 2019 USD ($) $ / shares | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) shares | Feb. 28, 2023 USD ($)
Convertible Debt |  |  |  |
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% |  |  |
Conversion ratio | 31.4346 |  |  |
Face amount | $ 1,000 |  |  |
Conversion price (in dollars per share) | $ / shares | $ 31.81 |  |  |
Effective interest rate | 6.94% |  |  |
Additional Convertible Senior Notes |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Proceeds from issuance of Series C Preferred Stock | $ 30,000,000 |  |  |
6.25% Convertible Senior Notes | Convertible Debt |  |  |  |
Debt Instrument [Line Items] |  |  |  |
Stated interest rate (as a percent) |  | 6.25% |  |
Debt conversion, converted instrument, amount |  |  | $ 11,000 |
Debt conversion, converted instrument, shares issued (in shares) | shares |  |  | 345 |
Authorized repurchase amount |  |  |  | $ 100,000,000
Principal amount of debt repurchased |  | $ 20,400,000 |  |
Debt instrument, repurchase amount |  | 20,200,000 |  |
Gain on repurchase of debt instrument |  | 89,000 |  |
Outstanding amount of debt |  | $ 209,600,000 |  |

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