Stock-Based Compensation - Restriced Stock Activity (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
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	$ 8.4
Unrecognized stock-based compensation cost, weighted-average period recognized	1 year 7 months 6 days
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	$ 4.1
Unrecognized stock-based compensation cost, weighted-average period recognized	1 year 9 months 18 days
Shares outstanding (in shares)	3,974,419	2,784,610	2,144,804	2,724,724
Shares outstanding, Weighted Average Grant Date Fair Value (in dollars per share)	$ 3.54	$ 5.05	$ 6.60	$ 5.26
Restricted stock	3,251,765	2,056,121	932,442
Grant date fair value of restricted stock	$ 2.94	$ 4.07	$ 8.88
Vested (in shares)	(1,381,246)	(1,114,513)	(1,179,857)
Vested (in dollars per share)	$ 5.09	$ 6.08	$ 5.53
Canceled/Forfeited (in shares)	(680,710)	(301,802)	(332,505)
Canceled/Forfeited (in dollars per share)	$ 3.66	$ 5.74	$ 5.83
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	$ 4.3
Unrecognized stock-based compensation cost, weighted-average period recognized	1 year 4 months 24 days
Shares outstanding (in shares)	3,159,910	2,574,537	2,390,013	2,335,102
Shares outstanding, Weighted Average Grant Date Fair Value (in dollars per share)	$ 4.52	$ 5.26	$ 5.80	$ 4.83
Restricted stock	1,816,429	1,325,418	602,933
Grant date fair value of restricted stock	$ 3.16	$ 4.53	$ 10.13
Vested (in shares)	(566,891)	(824,064)	(143,312)
Vested (in dollars per share)	$ 4.00	$ 5.54	$ 7.39
Canceled/Forfeited (in shares)	(664,165)	(316,830)	(404,710)
Canceled/Forfeited (in dollars per share)	$ 4.32	$ 6.11	$ 6.12
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
Performance shares | 2020 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	26,200
Canceled/Forfeited (in shares)	(468,393)