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, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Total fair value of restricted stock awards vested	$ 2.3	$ 2.3	$ 3.8
Unamortized compensation cost related to restricted stock awards	$ 4.1
Weighted-average remaining contractual terms	1 year 6 months
Shares
Non-vested, beginning of period (in shares)	984	875	1,022
Granted (in shares)	692	513	274
Vested (in shares)	(446)	(387)	(407)
Forfeited (in shares)	(10)	(17)	(14)
Non-vested, end of period (in shares)	1,220	984	875
Weighted Average Grant Date Fair Value
Non-vested, beginning of period (in dollars per share)	$ 5.55	$ 6.26	$ 5.27
Granted (in dollars per share)	2.20	4.67	9.07
Vested (in dollars per share)	5.25	6.01	5.70
Forfeited (in dollars per share)	6.37	5.34	5.38
Non-vested, end of period (in dollars per share)	$ 3.75	$ 5.55	$ 6.26