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Equity Incentive Plans and Stock-Based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Employee stock purchase plan
Stock-based compensation
Employee stock purchase plan, shares issued during period			263,933	277,838
Employee stock purchase plan, weighted-average price per share			$ 11.58	$ 10.51
Shares available for issuance	2,900,000		2,900,000
Discount from market price specific date			15.00%
Stock-based compensation expense	$ 0.2	$ 0.2	$ 0.8	$ 0.7
Unrecognized compensation cost	0.4		$ 0.4
Unrecognized compensation cost, weighted-average period			4 months
Options
Stock-based compensation
Stock-based compensation expense	0.1	0.1	$ 0.2	0.3
Unrecognized compensation cost	0.7		$ 0.7
Unrecognized compensation cost, weighted-average period			1 year 7 months 6 days
Nonvested equity stock units and stock units
Stock-based compensation
Stock-based compensation expense	7.0	$ 6.3	$ 12.9	$ 11.8
Unrecognized compensation cost	$ 51.5		$ 51.5
Unrecognized compensation cost, weighted-average period			2 years 3 months 18 days
Awards, nonvested grants in period, shares	100,000	100,000	1,998,321	1,900,000
Awards, nonvested requisite service period			4 years
Awards, nonvested grants in period, fair value	$ 2.8	$ 1.7	$ 41.3	$ 29.3
Nonvested equity stock units and stock units | Director
Stock-based compensation
Awards, nonvested requisite service period			1 year
Nonvested equity stock units and stock units | Minimum
Stock-based compensation
Awards, vesting rights (as a percentage)			0.00%
Nonvested equity stock units and stock units | Maximum
Stock-based compensation
Awards, vesting rights (as a percentage)			200.00%

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Employee Stock Purchase Plan, Weighted-Average Price Per Share

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The discount rate from market value on specific date that participants pay for shares.

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Represents the total fair value of nonvested equity stock units granted during the period.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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