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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-Based Compensation      
Share-based compensation, remaining shares available for issuance (in shares) 3,965,516    
Stock-based compensation expense (in dollars)     $ 6.0
Engineering Selling and Administrative Expenses      
Stock-Based Compensation      
Stock-based compensation expense (in dollars) $ 8.5 $ 7.1 $ 8.5
Restricted Stock | Director      
Stock-Based Compensation      
Number of shares of other than options granted during the period (in shares) 56,640 59,280 77,608
Restricted Stock | Restructuring Charges      
Stock-Based Compensation      
Stock-based compensation expense (in dollars)     $ 2.5
Stock Options      
Stock-Based Compensation      
Stock-based compensation expense (in dollars) $ 0.1 $ 0.6 $ 1.3
Number of share options granted during the period (in shares) 0   250,432
Weighted average grant date fair value, options (in dollars per share)     $ 5.35
Stock Options | Employees      
Stock-Based Compensation      
Vesting period (in years) 3 years    
Expiration period (in years) 10 years    
Number of share options granted during the period (in shares) 0    
Restricted Stock Units      
Stock-Based Compensation      
Stock-based compensation expense (in dollars) $ 5.2 $ 4.7 $ 4.5
Unrecognized compensation expense before income tax (in dollars) $ 5.2    
Recognition period for unrecognized compensation expense (in years) 1 year 9 months 18 days    
Number of shares of other than options granted during the period (in shares) 413,543 417,535 410,877
Restricted Stock Units | Employees      
Stock-Based Compensation      
Vesting period (in years) 3 years    
Anniversary period from grant date, for grants made prior to 2019 (in years)   3 years  
Performance Shares      
Stock-Based Compensation      
Stock-based compensation expense (in dollars) $ 3.2 $ 1.9 $ 0.2
Unrecognized compensation expense before income tax (in dollars) $ 4.1    
Recognition period for unrecognized compensation expense (in years) 1 year 8 months 12 days    
Performance period (in years) 3 years    
Period of U.S. Treasury rates as a basis for assumed risk-free rates (in years) 3 years    
Number of shares of other than options granted during the period (in shares) 122,280 159,247 328,310
2013 Omnibus Plan      
Stock-Based Compensation      
Share-based compensation, shares authorized (in shares) 7,477,395    
Performance Shares 2022 | Performance Shares      
Stock-Based Compensation      
Performance period (in years) 3 years    
Percentage of shares paid based on total shareholder return relative to peer group (as a percent) 60.00%    
Percentage of shares paid based on adjusted EBITDA (as a percent) 40.00%    
Increase decrease in percentage of shares paid based on total shareholder return relative to defined peer group 20.00%    
Percentage of shares of other than options granted during the period 200.00%    
Performance Shares 2021 | Performance Shares      
Stock-Based Compensation      
Performance period (in years)   3 years  
Percentage of shares paid based on total shareholder return relative to peer group (as a percent)   60.00%  
Percentage of shares paid based on adjusted EBITDA (as a percent)   40.00%  
Increase decrease in percentage of shares paid based on total shareholder return relative to defined peer group   20.00%  
Performance Shares 2020 | Performance Shares      
Stock-Based Compensation      
Performance period (in years)     3 years
Percentage of shares paid based on total shareholder return relative to peer group (as a percent)   200.00%  
Increase decrease in percentage of shares paid based on total shareholder return relative to defined peer group     20.00%
Percentage of shares of other than options granted during the period     200.00%