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Employee Benefit Plans and Stock-based Compensation (Details) - USD ($) $ in Millions	1 Months Ended				12 Months Ended
	May 31, 2021	May 31, 2019	May 31, 2015	May 31, 2013	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Options
Share-based Compensation Arrangement by Share-based Payment Award
Exercised (in shares)					172,000	507,000	905,000
Intrinsic value of options exercised					$ 0.8	$ 3.7	$ 3.2
1997 Stock Option Plan
Share-based Compensation Arrangement by Share-based Payment Award
Number of shares available for grant (in shares)					1,928,994
2007 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award
Number of shares authorized for issuance (in shares)					1,300,000
Number of additional shares authorized for issuance (in shares)				2,000,000
2007 Equity Incentive Plan \| Options
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					3 years
2007 Equity Incentive Plan \| Restricted stock awards \| Time based vesting
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					3 years
2007 Equity Incentive Plan \| Restricted stock awards \| Performance Based Vesting
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					12 months
2007 Equity Incentive Plan \| Maximum \| Options
Share-based Compensation Arrangement by Share-based Payment Award
Expected term					10 years
2015 Equity Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award
Number of shares authorized for issuance (in shares)			399,562
Number of additional shares authorized for issuance (in shares)	3,600,000	1,600,000	3,000,000
Number of shares available for grant (in shares)					2,800,000
2015 Equity Incentive Plan \| Consultant
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					1 year
2015 Equity Incentive Plan \| Options
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					4 years
2015 Equity Incentive Plan \| Restricted stock awards \| Time based vesting
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					3 years
2015 Equity Incentive Plan \| Restricted stock awards \| Performance Based Vesting
Share-based Compensation Arrangement by Share-based Payment Award
Vesting period					12 months
2015 Equity Incentive Plan \| Maximum \| Options
Share-based Compensation Arrangement by Share-based Payment Award
Expected term					10 years