Debt - Components of Interest Expense for Senior Notes (Details) - 4.625% Senior Notes Due in 2030 - Senior Notes - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Oct. 07, 2020
Debt Instrument [Line Items]
Stated interest rate				4.625%
Coupon interest expense	$ 21,159	$ 24,500	$ 33,899
Non-cash amortization of discount on convertible notes	301	333	529
Amortization of debt issuance costs	95	109	66
Total interest expense	$ 21,555	$ 24,942	$ 34,494