Debt - Summary of Obligations (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 643,196	$ 662,810
Senior Notes | 5.25% Senior Notes due 2028
Debt Instrument [Line Items]
Long-term debt, carrying value	643,196	641,724
Convertible Junior Subordinated Debentures, at 9% per annum, Due 2063
Debt Instrument [Line Items]
Long-term debt, carrying value	$ 0	$ 21,086