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Stockholders' Equity - Schedule of Fair Value of PSU Awards (Details) - Performance Shares - USD ($)
shares in Thousands, $ / shares in Millions, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation expense $ 24.1    
Unrecognized compensation expense to be recognized in the next 12 months 10.3    
2020-2022      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share)     $ 13.5
Unrecognized compensation expense 0.0    
Unrecognized compensation expense to be recognized in the next 12 months 0.0    
Granted (shares)     674
2021-2023      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share)   $ 9.3  
Unrecognized compensation expense 3.1    
Unrecognized compensation expense to be recognized in the next 12 months $ 3.1    
Granted (shares)   459  
2022-2024      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share) $ 11.0    
Unrecognized compensation expense $ 8.9    
Unrecognized compensation expense to be recognized in the next 12 months $ 3.9    
Granted (shares) 494    
2022-2025      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Granted (in dollars per share) $ 18.5    
Unrecognized compensation expense $ 12.1    
Unrecognized compensation expense to be recognized in the next 12 months $ 3.3    
Granted (shares) 811