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Stock Incentive Plans - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Apr. 20, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Stock-based compensation expense $ 4.3 $ 4.4  
Option or Stock Appreciation Right | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Reduction of shares reserved for grant (in shares)     1
Common Stock | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Reduction of shares reserved for grant (in shares)     2.72
Restricted Stock      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Total unrecognized compensation expenses $ 41.2    
Weighted average period expected to be recognized 4 years 1 month 6 days    
2023 Plan | Subsequent Event      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant (in shares)     3,200,000