Stock-Based Compensation - Summary of Stock Option Awards (Details) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) $ / shares shares
Shares
Outstanding at beginning of period (in shares) | shares	536,609
Exercised (in shares) | shares	(113,500)
Forfeited or expired (in shares) | shares	(118,226)
Outstanding at end of period ( in shares) | shares	304,883
Weighted- Average Strike Price
Options outstanding at beginning of period (in dollars per shares) | $ / shares	$ 18.08
Options exercised (in dollars per share) | $ / shares	13.82
Options forfeited or expired (in dollars per shares) | $ / shares	28.42
Options outstanding at end of period (in dollars per shares) | $ / shares	$ 15.66
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Options exercisable, Number of options (in shares) | shares	304,883
Options exercisable, Weighted average exercise price per share (in dollars per share) | $ / shares	$ 15.66
Aggregate intrinsic value | $	$ 3
Exercisable, intrinsic value | $	$ 3
Weighted-average remaining contractual term of non-vested shares	2 years 1 month 6 days