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Equity Incentive Plans and Stock-Based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 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 $ 0.3 $ 0.3 $ 1.1 $ 1.1
Unrecognized compensation cost 0.1   $ 0.1  
Unrecognized compensation cost, weighted-average period     1 month  
Options        
Stock-based compensation        
Stock-based compensation expense 0.1 0.2 $ 0.2 0.4
Unrecognized compensation cost 0.6   $ 0.6  
Unrecognized compensation cost, weighted-average period     1 year 4 months 24 days  
Nonvested equity stock units and stock units        
Stock-based compensation        
Stock-based compensation expense 7.1 $ 6.3 $ 20.0 $ 18.1
Unrecognized compensation cost $ 48.8   $ 48.8  
Unrecognized compensation cost, weighted-average period     2 years 2 months 12 days  
Awards, nonvested grants in period, shares 200,000 100,000 2,231,223 1,900,000
Awards, nonvested requisite service period     4 years  
Awards, nonvested grants in period, fair value $ 5.5 $ 0.9 $ 46.9 $ 30.2
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%