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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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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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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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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, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Stock compensation plan
Stock-based compensation
Shares available for issuance	11,407,453		11,407,453		7,655,769
Contingently issuable ESPP shares
Stock-based compensation
Employee stock purchase plan, shares issued during period			120,569	161,254
Employee stock purchase plans, weighted average price per share			$ 27.91	$ 19.97
Shares available for issuance	2,400,000		2,400,000
Discount from the fair market value (as a percentage)			15.00%
Stock-based compensation expense	$ 0.4	$ 0.4	$ 1.0	$ 0.8
Unrecognized compensation cost	0.6		$ 0.6
Unrecognized compensation cost, weighted-average period			4 months
Options
Stock-based compensation
Unrecognized compensation cost	0.1		$ 0.1
Unrecognized compensation cost, weighted-average period			3 months 18 days
Nonvested equity stock units and stock units
Stock-based compensation
Stock-based compensation expense	10.9	$ 8.2	$ 23.4	$ 15.5
Unrecognized compensation cost	$ 86.9		$ 86.9
Unrecognized compensation cost, weighted-average period			2 years 3 months 18 days
Awards, nonvested grants in period, shares	100,000	100,000	1,174,026	1,700,000
Requisite service period	4 years	4 years	4 years	4 years
Awards, nonvested grants in period, fair value	$ 2.5	$ 4.3	$ 55.2	$ 48.9
Nonvested equity stock units and stock units \| Director
Stock-based compensation
Requisite service period	1 year	1 year	1 year	1 year
Nonvested equity stock units and stock units \| Minimum
Stock-based compensation
Awards, vesting rights (as a percentage)			0.00%	0.00%
Nonvested equity stock units and stock units \| Maximum
Stock-based compensation
Awards, vesting rights (as a percentage)			200.00%	200.00%