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Long-term Debt - Repurchase of Outstanding Debt (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Debt Instrument [Line Items]      
Cash Paid $ 17,315 $ 8,450 $ 125,952
Non-cash Gains Recognized 0 176 4,022
1.5% Convertible Unsecured Senior Notes      
Debt Instrument [Line Items]      
Principal Amount 17,315 8,654 131,400
Carrying Value of Liability 17,315 8,626 129,974
Cash Paid 17,315 8,450 125,952
Non-cash Gains Recognized $ 0 $ 176 $ 4,022