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Financing Agreements - Convertible Senior Notes (Details) |  |  |  | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Apr. 17, 2024 USD ($) | Jan. 11, 2024 USD ($) | Jun. 03, 2019 USD ($) $ / shares | Mar. 31, 2024 USD ($) | Dec. 31, 2023 USD ($) | Jun. 30, 2024 | Feb. 28, 2023 USD ($)
Convertible Debt | 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 |  |  |  | $ 39,900,000 | $ 20,400,000 |  |
Debt instrument, repurchase amount |  |  |  | 39,800,000 | 20,200,000 |  |
Gain (loss) on repurchase of debt instrument |  |  |  | $ (100,000) | $ 100,000 |  |
Convertible Debt | Additional Convertible Senior Notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Proceeds from issuance of Series C Preferred Stock |  |  | $ 30,000,000 |  |  |  |
Senior Notes | 8.875% Senior Notes Due 2029 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Proceed from debt net of offering expenses and underwriting discount |  | $ 110,600,000 |  |  |  |  |
Stated interest rate (as a percent) |  | 8.875% |  |  |  | 8.875% |
Debt instrument, face amount |  | $ 115,000,000 |  |  |  |  |
Redemption price as percentage of principal amount |  | 100.00% |  |  |  |  |
Effective interest rate |  | 9.83% |  |  |  |  |
Senior Notes | 8.875% Senior Notes Due 2029 | Underwriters |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Stated interest rate (as a percent) |  | 8.875% |  |  |  |  |
Debt instrument, face amount |  | $ 15,000,000 |  |  |  |  |
Senior Notes | 9.00% Senior Notes Due 2029 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Proceed from debt net of offering expenses and underwriting discount | $ 72,000,000 |  |  |  |  |  |
Stated interest rate (as a percent) | 9.00% |  |  |  |  | 9.00% |
Debt instrument, face amount | $ 75,000,000 |  |  |  |  |  |
Redemption price as percentage of principal amount | 100.00% |  |  |  |  |  |
Effective interest rate | 9.94% |  |  |  |  |  |

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