Stockholders' Equity - Series A Preferred Stock and Stock Repurchases (Details) - USD ($) shares in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Feb. 29, 2024	Sep. 30, 2023	May 31, 2021
Convertible Preferred Stock and Stockholders' Equity
Authorized amount				$ 75,000,000	$ 150,000,000
Stock Repurchase Program, Additional Authorized Amount					$ 75,000,000
Repurchase and retired (in shares)	9.8	6.1
Repurchase of common stock	$ 29,700,000	$ 32,300,000
Remaining authorized amount	$ 45,800,000
Subsequent event
Convertible Preferred Stock and Stockholders' Equity
Authorized amount			$ 100,000,000
Stock Repurchase Program, Additional Authorized Amount			$ 54,200,000