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Stock-Based Compensation - Restriced Stock Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Unrecognized stock-based compensation cost $ 7.8      
Unrecognized stock-based compensation cost, weighted-average period recognized 1 year 6 months      
Restricted stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Restricted stock award vesting period 3 years      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Unrecognized stock-based compensation cost $ 4.3      
Unrecognized stock-based compensation cost, weighted-average period recognized 1 year 3 months 18 days      
Shares outstanding (in shares) 2,784,610 2,144,804 2,724,724 2,184,675
Shares outstanding, Weighted Average Grant Date Fair Value (in dollars per share) $ 5.05 $ 6.60 $ 5.26 $ 5.89
Restricted stock 2,056,121 932,442 1,676,634  
Grant date fair value of restricted stock $ 4.07 $ 8.88 $ 5.13  
Vested (in shares) (1,114,513) (1,179,857) (928,778)  
Vested (in dollars per share) $ 6.08 $ 5.53 $ 6.46  
Canceled/Forfeited (in shares) (301,802) (332,505) (207,807)  
Canceled/Forfeited (in dollars per share) $ 5.74 $ 5.83 $ 5.36  
Performance shares        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Unrecognized stock-based compensation cost $ 3.5      
Unrecognized stock-based compensation cost, weighted-average period recognized 1 year 8 months 12 days      
Shares outstanding (in shares) 2,574,537 2,390,013 2,335,102 1,214,145
Shares outstanding, Weighted Average Grant Date Fair Value (in dollars per share) $ 5.26 $ 5.80 $ 4.83 $ 6.93
Restricted stock 1,325,418 602,933 1,343,953  
Grant date fair value of restricted stock $ 4.53 $ 10.13 $ 3.95  
Vested (in shares) (824,064) (143,312) (54,132)  
Vested (in dollars per share) $ 5.54 $ 7.39 $ 11.47  
Canceled/Forfeited (in shares) (316,830) (404,710) (168,864)  
Canceled/Forfeited (in dollars per share) $ 6.11 $ 6.12 $ 10.71  
Performance shares | 2017 Award [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Restricted stock 6,226      
Canceled/Forfeited (in shares) (143,808)      
Performance shares | 2018 Award        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Restricted stock 1,421      
Canceled/Forfeited (in shares) (141,894)      
Performance shares | 2019 Award        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Weighted Average Grant Date Fair Value [Abstract]        
Restricted stock 175,828