Debt - Narrative (Details) shares in Millions	3 Months Ended	9 Months Ended
	Sep. 30, 2023 USD ($) shares	Sep. 30, 2023 USD ($)	Sep. 30, 2022 USD ($)
Debt Instrument [Line Items]
Reduction in potentially dilutive shares due to debt extinguishment | shares	1.6
Total interest payments		$ 35,100,000	$ 52,700,000
9% Convertible Junior Subordinated Debentures
Debt Instrument [Line Items]
Extinguishment of debt, amount	$ 21,100,000
Conversion rate (in shares per $1,000 note)		0.077962
Principal amount of notes used in determining conversion rate	1,000	$ 1,000
Redemption of convertible junior subordinated debentures	28,600,000
Reduction in shareholders' equity due to debt conversion	$ (5,300,000)