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Stockholders' Equity - Blackstone Private Placement and Conversion (Details)
 12 Months Ended
Feb. 05, 2021
USD ($)
shares
Jan. 25, 2021
USD ($)
$ / shares
shares
Oct. 01, 2020
USD ($)
D
item
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
Stockholders' Equity            
Preferred stock, par value (in dollars per share) | $ / shares       $ 0.001 $ 0.001  
Proceeds from issuance of stock         $ 248,911,000 $ 237,225,000
Common stock, par value (in dollars per share) | $ / shares     $ 0.001 $ 0.001 $ 0.001  
Proceeds from issuance of common stock, net of issuance costs         $ 0 28,160,000
Aggregate purchase price       $ 37,900,000    
Dividends, paid-in-kind       $ 8,000,000.0 $ 8,200,000  
Deemed Dividend     $ 39,500,000      
Private Placement            
Stockholders' Equity            
Proceeds from issuance of common stock, net of issuance costs     25,000,000.0      
Aggregate purchase price     275,000,000.0      
Reimbursement Of Transactional Expenses     1,000,000.0      
Offering costs     8,600,000      
Net proceeds from private placement     $ 265,400,000      
Underwritten public offering            
Stockholders' Equity            
Shares issued to the underwriters | shares   4,356,059        
Price per share | $ / shares   $ 66.00        
Proceeds from issuance of common stock, net of issuance costs   $ 269,800,000        
Class C convertible preferred stock            
Stockholders' Equity            
Shares issued to the underwriters | shares 50,000          
Preferred stock, dividend rate (as a percent)       4.00%    
Preferred stock, par value (in dollars per share) | $ / shares       $ 0.001 $ 0.001  
Dividends, paid-in-kind           $ 300,000
Liquidation preference (in dollars per share) | $ / shares     $ 1,000      
Conversion price (in dollars per share) | $ / shares     $ 38.6152      
Conversion rate     25.90      
Shares to be issued upon conversion | shares     6,474,135      
Threshold trading days for conversion of preferred stock | D     20      
Threshold consecutive trading days for conversion of preferred stock | D     30      
Stock price trigger as a percentage of conversion price for conversion of preferred stock     150.00%      
Dividend rate on shares not repurchased     5.50%      
Number of member to the board of directors who can be elected by the preferred stock holders | item     1      
Percentage of stock to be held to exercise the right to nominate member of board of directors     66.67%      
Conversion of Series C preferred shares to common stock $ 1,800,000          
Class C convertible preferred stock | Private Placement            
Stockholders' Equity            
Shares issued to the underwriters | shares     250,000      
Preferred stock, dividend rate (as a percent)     4.00%      
Preferred stock, par value (in dollars per share) | $ / shares     $ 0.001      
Price per share | $ / shares     $ 1,000      
Proceeds from issuance of stock     $ 250,000,000.0      
Net proceeds from private placement     $ 28,200,000      
Common Stock            
Stockholders' Equity            
Shares to be issued upon conversion | shares 1,312,860          
Common Stock | Private Placement            
Stockholders' Equity            
Shares issued to the underwriters | shares     675,536      
Net proceeds from private placement     $ 237,200,000      
Prior to the 180-day anniversary of October 1, 2020 | Class C convertible preferred stock            
Stockholders' Equity            
Number of shares to be redeemed | shares 50,000          
At any time beginning five years after Closing Date (but prior to six years after the Closing Date) | Class C convertible preferred stock            
Stockholders' Equity            
Redemption price (as a percent)     105.00%      
At any time beginning six years after Closing Date | Class C convertible preferred stock            
Stockholders' Equity            
Redemption price (as a percent)     100.00%