Stock-based Compensation - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based Compensation
Shares authorized to be issued under the plan (in shares)	2,000,000		2,000,000
Recorded compensation costs for the RSAs and RSUs	$ 1.2	$ 1.6	$ 2.7	$ 3.5
RSAs
Stock-based Compensation
Period for recognition			1 year 8 months 12 days
Unrecognized compensation cost	2.3		$ 2.3
Performance-Based Restricted Stock Unit Awards (RSUs)
Stock-based Compensation
Period for recognition			2 years
Unrecognized compensation cost	$ 2.9		$ 2.9
Performance period			3 years
Performance-Based Restricted Stock Unit Awards (RSUs) | Minimum
Stock-based Compensation
Options vested on anniversary date			0.00%
Performance-Based Restricted Stock Unit Awards (RSUs) | Maximum
Stock-based Compensation
Options vested on anniversary date			200.00%
Officer | RSAs
Stock-based Compensation
Vesting period			36 months
Period for recognition			36 months
Director | RSAs
Stock-based Compensation
Vesting period			12 months
Period for recognition			12 months