Stockholders' Equity - Share Repurchase Program (Details) - USD ($) shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Aug. 02, 2023	Nov. 10, 2021
Class of Stock [Line Items]
Treasury stock acquired (in shares)	1,841	420
Treasury stock, value, acquired, cost method	$ 62.1	$ 5.8
Remaining authorized repurchase amount	$ 181.8
Common Stock
Class of Stock [Line Items]
Stock repurchase program, authorized amount				$ 50.0
Common Stock | Minimum
Class of Stock [Line Items]
Stock repurchase program, authorized amount			$ 50.0
Common Stock | Maximum
Class of Stock [Line Items]
Stock repurchase program, authorized amount			$ 250.0