Stockholders' Equity - Narrative - Restricted Stock Awards and Stock Option Grants (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Award vesting period (in years)	4 years
Restricted Stock Awards
Class of Stock [Line Items]
Compensation not yet recognized, share-based awards other than options	$ 11.4	$ 8.8
Compensation cost not yet recognized, period for recognition (in years)	1 year 5 months 15 days	1 year 8 months 8 days
Award vesting period (in years)	4 years
Performance Restricted Stock Units
Class of Stock [Line Items]
Compensation not yet recognized, share-based awards other than options	$ 2.0	$ 0.7
Compensation cost not yet recognized, period for recognition (in years)	1 year 11 months 26 days	1 year 8 months 8 days
Award vesting period (in years)	3 years
Stock Option Awards
Class of Stock [Line Items]
Compensation cost not yet recognized, period for recognition (in years)	1 year 4 months 24 days	1 year 9 months 14 days
Weighted average grant price (in dollars per share)	$ 0	$ 7.44	$ 7.72
Total unrecognized compensation costs related to stock option awards	$ 2.1	$ 3.7