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Financing Arrangements (Details)
$ / shares in Units, shares in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Jan. 21, 2021
USD ($)
Nov. 24, 2020
USD ($)
$ / shares
Apr. 12, 2017
USD ($)
$ / shares
shares
Mar. 31, 2016
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
shares
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Jan. 22, 2021
USD ($)
Oct. 22, 2020
shares
Jun. 30, 2016
USD ($)
Line of Credit Facility [Line Items]                      
Long-term debt         $ 218,172,000 $ 218,172,000 $ 148,810,000        
Amortization of Debt Discount (Premium)           $ 10,366,000 8,987,000 $ 8,112,000      
Payments for Repurchase of Equity, Prepaid Forward     $ 78,000,000.0                
Treasury Shares Acquired, Estimated, Prepaid Forward | shares           9,200          
Operating Lease, Impairment Loss           $ 12,460,000 0 0      
Own-share Lending Arrangement, Shares, Issued | shares     9,200                
SharesPurchasedUnderPrepaidForward | shares                   8,800  
Proceeds from Issuance of Debt           $ 143,750,000 0 0      
Debt Instrument, Covenant Compliance, Asset Coverage Ratio         1.50 1.50          
Adjustments to Additional Paid in Capital, Capped Call Option, Issuance Costs           $ (10,249,000)          
Option Indexed To Issuers Equity, cap price         $ 12.0925 12.0925          
Payments to repurchase convertible debt         50,000,000.0            
Interest Paid, Including Capitalized Interest, Operating and Investing Activities         200,000 6,717,000 6,179,000 6,125,000      
Gain (Loss) on Extinguishment of Debt           5,389,000 0 0      
Option Indexed To Issuers Equity, cap price         12.0925 12.0925          
Proceeds from Issuance of Debt           143,750,000 0 0      
Gain (Loss) on Extinguishment of Debt           5,389,000 0 0      
Convertible Senior Notes due 2025 [Member] | Private Placement [Member]                      
Line of Credit Facility [Line Items]                      
Debt Instrument   $ 125,000,000.0                  
2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Credit agreement, current borrowing capacity                     $ 250,000,000.0
Credit agreement, maximum borrowing capacity                     $ 300,000,000.0
Minimum Fixed Charge Coverage Ratio, minimum balance       $ 25,000,000.0              
Minimum Fixed Charge Coverage Ratio, minimum percent       10.00%              
Amount outstanding         0 0 0        
2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Credit agreement, current borrowing capacity                 $ 50,000,000.0    
Minimum Fixed Charge Coverage Ratio, minimum balance $ 10,000,000.0                    
Line of Credit Facility, Unused Capacity, Minimum Liquidity Requirement, Amount 55,000,000.0                    
Line of Credit Facility, Unused Capacity, Qualified Cash $ 40,000,000.0                    
Convertible Senior Notes due 2022 [Member]                      
Line of Credit Facility [Line Items]                      
Debt Instrument     $ 175,000,000.0                
Long-term Debt, Percentage Bearing Fixed Interest, Amount     $ 128,300,000                
Debt Instrument, Unamortized Discount         10,200,000 10,200,000 24,300,000        
Interest rate     3.50%                
Debt Instrument, Convertible, Conversion Ratio     94.0071                
Convertible Debt Principal Amount Conversion     $ 1,000   $ 125,000,000.0 125,000,000.0 175,000,000.0        
Debt Instrument, Convertible, Conversion Price | $ / shares     $ 10.64                
Convertible debt, equity portion     $ 46,700,000                
Effective rate   2.40% 10.50%                
Debt Issuance Costs, Net     $ 5,700,000                
Percentage of conversion price of notes         130.00%            
Percentage of trading price of notes         98.00%            
Long-term debt         $ 114,000,000.0 114,000,000.0 148,800,000        
Interest Expense, Debt           5,900,000 6,100,000 6,100,000      
Amortization of Debt Issuance Costs           800,000 800,000 800,000      
Amortization of Debt Discount (Premium)           9,600,000 9,000,000.0 $ 8,100,000      
Gain (Loss) on Extinguishment of Debt           5,400,000          
Debt Instrument, Repurchase Amount         56,200,000 56,200,000          
Debt Instrument, Repurchased Face Amount         45,200,000 45,200,000          
Debt Instrument, Repurchase Amount         56,200,000 56,200,000          
Gain (Loss) on Extinguishment of Debt           5,400,000          
Convertible Senior Notes due 2022 [Member] | Long-term Debt [Member]                      
Line of Credit Facility [Line Items]                      
Debt Issuance Costs, Gross     4,200,000                
Debt Issuance Costs, Net         800,000 800,000 $ 1,900,000        
proceedsfromconvertibledebtamountallocatedtodebtcomponent         50,600,000            
Convertible Senior Notes due 2022 [Member] | Additional Paid-in Capital [Member]                      
Line of Credit Facility [Line Items]                      
Debt Issuance Costs, Gross     $ 1,500,000                
proceedsfromconvertibledebtamountallocatedtoequitycomponent         5,400,000            
Convertible Senior Notes due 2025 [Member]                      
Line of Credit Facility [Line Items]                      
Debt Instrument   $ 143,800,000                  
Long-term Debt, Percentage Bearing Fixed Interest, Amount   $ 106,900,000                  
Debt Instrument, Unamortized Discount         36,100,000 36,100,000          
Interest rate   1.25%                  
Debt Instrument, Convertible, Conversion Ratio   107.1984                  
Convertible Debt Principal Amount Conversion   $ 1,000     $ 143,800,000 143,800,000          
Debt Instrument, Convertible, Conversion Price | $ / shares   $ 9.3285                  
Convertible debt, equity portion   $ 36,900,000                  
Effective rate   7.50%                  
Debt Issuance Costs, Net   $ 4,700,000                  
Percentage of conversion price of notes         130.00%            
Percentage of trading price of notes         98.00%            
Long-term debt         $ 104,200,000 104,200,000          
Interest Expense, Debt           200,000          
Amortization of Debt Issuance Costs           100,000          
Amortization of Debt Discount (Premium)           800,000          
Convertible Senior Notes due 2025 [Member] | Long-term Debt [Member]                      
Line of Credit Facility [Line Items]                      
Debt Issuance Costs, Gross   3,500,000                  
Debt Issuance Costs, Net         $ 3,400,000 $ 3,400,000          
Convertible Senior Notes due 2025 [Member] | Additional Paid-in Capital [Member]                      
Line of Credit Facility [Line Items]                      
Debt Issuance Costs, Gross   1,200,000                  
Convertible Senior Notes due 2025 [Member] | Over-Allotment Option [Member]                      
Line of Credit Facility [Line Items]                      
Debt Instrument   $ 18,800,000                  
Minimum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Unused Capacity, Commitment Fee Percentage       0.25%              
Minimum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Unused Capacity, Commitment Fee Percentage 0.375%                    
Maximum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Unused Capacity, Commitment Fee Percentage       0.375%              
Maximum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Unused Capacity, Commitment Fee Percentage 0.50%                    
London Interbank Offered Rate (LIBOR) [Member] | Minimum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate       1.50%              
London Interbank Offered Rate (LIBOR) [Member] | Minimum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate 1.50%                    
London Interbank Offered Rate (LIBOR) [Member] | Maximum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate       2.00%              
London Interbank Offered Rate (LIBOR) [Member] | Maximum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate 2.00%                    
Base Rate [Member] | Minimum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate       0.50%              
Base Rate [Member] | Minimum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate 0.50%                    
Base Rate [Member] | Maximum [Member] | 2016 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate       1.00%              
Base Rate [Member] | Maximum [Member] | 2021 Credit Facility [Member]                      
Line of Credit Facility [Line Items]                      
Basis Spread on Variable Rate 1.00%