Employee Benefit Plans and Stock-based Compensation - RSU (Details) - Restricted stock awards - USD ($) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award
Total fair value of restricted stock awards vested	$ 2.3	$ 3.8	$ 1.9
Unrecognized compensation expense related to restricted stock awards	$ 4.8
Weighted average remaining contractual terms	1 year 7 months 6 days
Shares
Non-vested, beginning of period (in shares)	875	1,022	939
Granted (in shares)	513	274	443
Vested (in shares)	(387)	(407)	(347)
Forfeited (in shares)	(17)	(14)	(13)
Non-vested, end of period (in shares)	984	875	1,022
Weighted Average Grant Date Fair Value
Non-vested, beginning of period (in dollars per share)	$ 6.26	$ 5.27	$ 5.02
Granted (in dollars per share)	4.67	9.07	5.94
Vested (in dollars per share)	6.01	5.70	5.44
Forfeited (in dollars per share)	5.34	5.38	5.54
Non-vested, end of period (in dollars per share)	$ 5.55	$ 6.26	$ 5.27

Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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Weighted average remaining contractual term for equity-based awards excluding options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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