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Debt - Narrative (Details) - USD ($)
$ / shares in Units, shares in Millions
 1 Months Ended 12 Months Ended
Jan. 12, 2022
May 26, 2021
Jun. 22, 2020
Apr. 30, 2021
Dec. 31, 2023
Dec. 31, 2022
Jan. 10, 2022
Line of Credit Facility [Line Items]              
Maximum amount of liquidity that my be netted against total indebtedness       $ 100,000,000      
Convertible Subordinated Debt | Affiliated Entity              
Line of Credit Facility [Line Items]              
Convertible notes issued     $ 25,000,000        
Convertible debt, threshold percentage of stock price trigger (as a percent)     75.00%        
Convertible debt, conversion price (in dollars per share)   $ 8.2909 $ 8.2909        
Long-term debt outstanding   $ 25,600,000          
Convertible Subordinated Debt | Affiliated Entity | Common Class B              
Line of Credit Facility [Line Items]              
Convertible debt, shares converted (in shares)   3.1          
Line of Credit              
Line of Credit Facility [Line Items]              
Line of credit facility       250,000,000      
Maximum amount of liquidity that my be netted against total indebtedness       $ 550,000,000     $ 550,000,000
Line of credit, amount available         $ 245,700,000    
Line of Credit | Minimum              
Line of Credit Facility [Line Items]              
Commitment fee (as a percent)       0.25%      
Line of Credit | Maximum              
Line of Credit Facility [Line Items]              
Commitment fee (as a percent)       0.35%      
Line of Credit | Revolving Credit Facility              
Line of Credit Facility [Line Items]              
Long-term debt outstanding         0    
Line of Credit | Letter of Credit              
Line of Credit Facility [Line Items]              
Long-term debt outstanding         4,300,000    
Senior Notes | Senior Notes Due 2030              
Line of Credit Facility [Line Items]              
Convertible notes issued $ 550,000,000            
Debt instrument, interest rate (as a percent) 5.00%            
Redemption price, percent of principal (as a percent) 100.00%            
Redemption of aggregate principal amount (as a percent) 40.00%            
Debt issuance costs         7,400,000    
Interest expense         $ 28,500,000 $ 27,600,000  
Effective interest rate (as a percent)         5.40% 5.40%  
Amortization of issuance costs for credit facility         $ 1,000,000 $ 900,000  
Senior Notes | Senior Notes Due 2030 | Prior to January 15, 2025              
Line of Credit Facility [Line Items]              
Redemption price, percent of principal (as a percent) 105.00%            
Senior Notes | Senior Notes Due 2030 | Upon occurrence of change of control triggering event              
Line of Credit Facility [Line Items]              
Redemption price, percent of principal (as a percent) 101.00%