Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Shares
Beginning balance (in shares)	504,241	859,850
Options granted (in shares)	0
Options exercised (in shares)	(140,000)	(41,603)
Options canceled, forfeited or expired (in shares)	(215,609)
Ending balance (in shares)	504,241	859,850
Options exercisable (in shares)	466,411
Weighted-Average Exercise Price
Beginning balance (in dollars per share)	$ 25.88
Options granted (in dollars per share)	0
Options exercised (in dollars per share)	10.87
Options canceled, forfeited or expired (in dollars per share)	16.56
Ending balance (in dollars per share)	34.03	$ 25.88
Options exercisable (in dollars per share)	$ 28.36
Weighted-Average Remaining Contractual Term (Years)
Options outstanding	2 years 1 month 6 days	2 years 2 months 8 days
Options exercisable	1 year 10 months 13 days
Aggregate Intrinsic Value (in millions)
Options outstanding	$ 4.7	$ 10.3
Options exercised	3.5	$ 1.0	$ 2.8
Options exercisable	$ 4.7