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Stock Incentive Plans - 2016 Equity Compensation Plan Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Jun. 07, 2019
Dec. 15, 2016
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Scenario, Forecast            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share-based Payment Arrangement, Expense     $ 0.0 $ 0.3 $ 1.0  
2016 Equity Compensation Plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Shares authorized (in shares) 1,121,229 764,087        
Shares that can be granted per employee (in shares)   428,571        
Maximum number of options and stock appreciation rights that can be granted per employee in one year (in shares)   428,571        
Maximum shares to be granted to non employee director in one year (in shares)   71,428        
Additional shares authorized (in shares) 357,142          
2016 Equity Compensation Plan | Employee Stock Option            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Cumulative options vested or expected to vest (in shares)           272,591
Options vested or expected to vest (in shares)           13,000
2016 Equity Compensation Plan | Employee Stock Option | Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise Price (in dollars per share)           $ 29.96
2016 Equity Compensation Plan | Employee Stock Option | Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Exercise Price (in dollars per share)           $ 38.92