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Equity Incentive Plans and Stock-Based Compensation (Details Textual) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Employee stock purchase plan
Stock-based compensation
Shares available for issuance	2,800,000
Discount from market price specific date	15.00%
Stock-based compensation expense	$ 0.5	$ 0.5
Unrecognized compensation cost	$ 0.2
Unrecognized compensation cost, weighted-average period	1 month
Options
Stock-based compensation
Stock-based compensation expense		0.1
Unrecognized compensation cost	$ 0.3
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	$ 7.3	$ 5.9
Unrecognized compensation cost	$ 74.9
Unrecognized compensation cost, weighted-average period	2 years 8 months 12 days
Awards, nonvested grants in period, shares	1,594,236	1,900,000
Awards, nonvested requisite service period	4 years
Awards, nonvested grants in period, fair value	$ 44.6	$ 38.5
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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- Definition

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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