Stockholders' Equity - At-the-Market equity offering - Additional Information (Details) - ATM Equity Offering - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock sold (in shares)	467,594	0	577,956
Gross proceeds	$ 96.4		$ 107.6
Net proceeds	94.7		105.4
Commissions	$ 1.7		1.6
Stock issuance costs			$ 0.5
Maximum number of common stock shares to be sold	3,000,000.0
Number of shares remaining to be sold	2,000,000.0