Debt - Summary of Debt Obligations (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 642,828	$ 662,810
Senior Notes | 5.25% Senior Notes Due 2028
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 642,828	641,724
Stated interest rate	5.25%
Debt instrument, face amount	$ 650,000
9% Convertible Junior Subordinated Debentures
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 0	$ 21,086
Stated interest rate	9.00%