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Long-Term Debt - Narrative (Details)
 1 Months Ended 3 Months Ended 12 Months Ended
Apr. 17, 2023
USD ($)
Jun. 05, 2019
USD ($)
extensionTerm
Aug. 31, 2022
USD ($)
renewalPeriod
Dec. 31, 2022
USD ($)
Dec. 31, 2023
USD ($)
extensionTerm
Rate
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Feb. 16, 2023
USD ($)
Aug. 12, 2022
USD ($)
Mar. 31, 2021
USD ($)
Debt Instrument [Line Items]                    
Debt repurchase program, maximum amount authorized               $ 100,000,000    
Threshold percentage         50.00%          
Cash sweeping event | Rate         175.00%          
Rapid amortization event | Rate         120.00%          
Manager termination event | Rate         120.00%          
Interest-only debt service coverage ratio, default event | Rate         110.00%          
Debt service coverage ratio | Rate         360.00%          
Loss (gain) on extinguishment of debt         $ 10,000 $ (210,000) $ 34,000      
Series 2019-1 4.723% Fixed Rate Senior Secured Notes, Class A-2-II and Series 2019-1 4.194% Fixed Rate Senior Secured Notes, Class A-2-I                    
Debt Instrument [Line Items]                    
Number of tranches issued | extensionTerm   2                
Series 2019-1 4.194% Fixed Rate Senior Secured Notes, Class A-2-I                    
Debt Instrument [Line Items]                    
Debt interest rate (percent)   4.194%   4.194% 4.194% 4.194%        
Debt instrument, face amount   $ 700,000,000                
Series 2019-1 4.723% Fixed Rate Senior Secured Notes, Class A-2-II                    
Debt Instrument [Line Items]                    
Debt interest rate (percent)   4.723%   4.723% 4.723% 4.723%        
Debt instrument, face amount   $ 600,000,000                
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively                    
Debt Instrument [Line Items]                    
Debt interest rate (percent)       7.29% 7.95% 7.29%        
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Line of credit facility, maximum borrowing capacity     $ 325,000,000           $ 325,000,000  
Number of renewal periods | renewalPeriod     2              
Renewal period term (in years)     1 year              
Interest rate percentage after renewal date         5.00%          
Proceeds from long-term lines of credit     $ 100,000,000              
Letters of credit outstanding         $ 3,400,000          
Line of credit facility, current borrowing capacity         $ 221,600,000          
Debt, weighted average interest rate         7.68%          
Debt issuance costs, gross     $ 6,300,000              
Number of additional extensions | extensionTerm         2          
Additional extension (in years)         1 year          
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively | Revolving Credit Facility | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate                    
Debt Instrument [Line Items]                    
Basis spread on variable rate     2.50%              
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively | Letter of Credit | Secured Overnight Financing Rate (SOFR) Overnight Index Swap Rate                    
Debt Instrument [Line Items]                    
Basis spread on variable rate     0.50%              
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively | Letter of Credit | Federal Funds Rate                    
Debt Instrument [Line Items]                    
Basis spread on variable rate     0.50%              
Series 2022-1 Variable Funding Senior Secured Notes, Class A-1, variable interest rate of 7.95% and 7.29% at December 31, 2023 and December 31, 2022, respectively | Letter of Credit | Base Rate                    
Debt Instrument [Line Items]                    
Basis spread on variable rate     2.00%              
Series 2019-1 Variable Funding Senior Notes Class A-1 | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Line of credit facility, maximum borrowing capacity     $ 225,000,000              
Line of credit facility, expired amount                 $ 225,000,000  
Extinguishment of debt       $ 40,000,000            
Line of credit facility, amount outstanding                   $ 0
Amortization of financing costs           $ 400,000        
Loss (gain) on extinguishment of debt       $ (1,400,000) $ 1,200,000          
Series 2019-1 Variable Funding Senior Notes Class A-1 | Revolving Credit Facility | London Interbank Offered Rate (LIBOR)                    
Debt Instrument [Line Items]                    
Basis spread on variable rate         2.15%          
Line of credit facility, percentage of advances drawn         60.00%          
Series 2019-1 Variable Funding Senior Notes Class A-1 | Revolving Credit Facility | Commercial Paper Funding Rate Of Conduit Investor                    
Debt Instrument [Line Items]                    
Basis spread on variable rate         2.15%          
Line of credit facility, percentage of advances drawn         40.00%          
Series 2023-1 7.824% Fixed Rate Senior Secured Notes, Class A-2                    
Debt Instrument [Line Items]                    
Debt interest rate (percent) 7.824%       7.824%          
Debt instrument, face amount $ 500,000,000                  
Additional interest on fixed rate 5.00%                  
Debt instrument, term 10 years                  
Debt instrument, periodic payment, principal         $ 1,250,000          
Covenant compliance, leverage ratio, maximum | Rate         525.00%          
Ratio of indebtedness to net capital | Rate         420.00%          
Debt instrument, make-whole premium         $ 43,500,000          
Debt instrument, annual principal payment         $ 5,000,000          
Series 2023-1 7.824% Fixed Rate Senior Secured Notes, Class A-2 | Maximum                    
Debt Instrument [Line Items]                    
Ratio of indebtedness to net capital | Rate         525.00%          
Series 2023-1 7.824% Fixed Rate Senior Secured Notes, Class A-2 | Ten Year United States Treasury Bill Rate                    
Debt Instrument [Line Items]                    
Additional interest on fixed rate 9.24%                  
Series 2023-1 7.824% Fixed Rate Senior Secured Notes, Class A-2 | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Debt issuance costs, gross         $ 8,000,000          
Amortization of financing costs         700,000          
Debt issuance costs, net         7,300,000          
Class A-2-I Notes                    
Debt Instrument [Line Items]                    
Extinguishment of debt         585,100,000          
Loss (gain) on extinguishment of debt         1,700,000          
2019 Class A-2 Notes                    
Debt Instrument [Line Items]                    
Extinguishment of debt         67,900,000          
Additional interest on fixed rate   5.00%                
Debt instrument, term   10 years                
Debt instrument, periodic payment, principal         $ 1,500,000          
Covenant compliance, leverage ratio, maximum | Rate         525.00%          
Ratio of indebtedness to net capital | Rate         420.00%          
Debt issuance costs, gross         $ 12,900,000          
Amortization of financing costs         1,600,000 2,400,000 $ 2,200,000      
Loss (gain) on extinguishment of debt         (1,700,000)          
Debt instrument, annual principal payment         $ 6,000,000          
2019 Class A-2 Notes | Maximum                    
Debt Instrument [Line Items]                    
Ratio of indebtedness to net capital | Rate         525.00%          
2019 Class A-2 Notes | Ten Year United States Treasury Bill Rate                    
Debt Instrument [Line Items]                    
Additional interest on fixed rate   7.64%                
Series 2022-1 Variable Funding Senior Notes Class A-1 | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Amortization of financing costs         $ 1,200,000 $ 400,000        
Debt issuance costs, net         4,700,000          
2019 Class A-2-II Notes                    
Debt Instrument [Line Items]                    
Debt issuance costs, net         $ 2,200,000