Share-Based Compensation - Additional Information (Details)			12 Months Ended
	May 30, 2023 shares	Feb. 24, 2023 shares	Dec. 31, 2023 USD ($) participant $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost | $			$ 16,500,000	$ 15,800,000
Period of expense of unrecognized compensation cost			2 years 9 months 18 days	2 years 9 months 18 days
Weighted average grant-date fair value of stock options granted (in dollars per share) | $ / shares			$ 6.53	$ 4.06	$ 7.01
Aggregate intrinsic value of stock options exercised | $			$ 0	$ 100,000	$ 700,000
Fair value of options vested | $			$ 1,300,000	$ 1,800,000	$ 2,100,000
Weighted average grant-date fair value of restricted stock units granted (in dollars per share) | $ / shares			$ 13.72	$ 18.06	$ 28.53
SERP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of earned income on a pre-tax basis, deferred			25.00%
Percentage of match participants' deferrals			25.00%
Percentage of deferral in the form of common stock			15.00%
Full vest in matching contribution			3 years
Shares authorized for issuance (in shares)			1,000,000
Common stock reserved for future issuance (in shares)			200,000
Stock options vested and outstanding (in shares)			300,000
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Period of expense of unrecognized compensation cost			3 years 1 month 6 days
Restricted stock granted (in shares)			536,000	400,000	300,000
Weighted average grant-date fair value of restricted stock units granted (in dollars per share) | $ / shares			$ 13.72	$ 18.06	$ 28.53
Performance stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost | $			$ 1,300,000
Period of expense of unrecognized compensation cost			1 year 4 months 24 days
Restricted stock granted (in shares)		80,000	80,000
Weighted average grant-date fair value of restricted stock units granted (in dollars per share) | $ / shares			$ 16.20
Vesting period		3 years
Deferred stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Payout period			5 years
Deferred stock units | Non employee director
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost | $			$ 100,000
Period of expense of unrecognized compensation cost			4 months 24 days
Restricted stock granted (in shares)	23,000
Vesting period	1 year
Number of participants electing to receive shares | participant			2
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares available for future grant (in shares)			1,800,000
Average weekly hours of work			20 hours
Requisite service period for plan participation eligibility			2 years
Stock options authorized to issue to employees (in shares)			4,100,000
Annual earnings withheld to purchase common stock | $			$ 21,250
Percent of IRS limitation			85.00%
Maximum fair value of common stock purchased | $			$ 25,000
ESPP purchase price of common stock, percent of market price			85.00%
ESPP purchase price of common stock, percent of market price offering period			85.00%
2020 Omnibus Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Increase in shares authorized under plan (in shares)	2,500,000
Common stock reserved for future issuance (in shares)			7,000,000
Shares available for future grant (in shares)			3,200,000
Maximum term of grants			10 years