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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		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Stock compensation plan
Stock-based compensation
Shares available for issuance	11,913,792		11,913,792		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	$ 0.5	$ 0.4	$ 1.5	$ 1.2
Unrecognized compensation cost	0.2		$ 0.2
Unrecognized compensation cost, weighted-average period			1 month
Options
Stock-based compensation
Unrecognized compensation cost, weighted-average period			1 month
Nonvested equity stock units and stock units
Stock-based compensation
Stock-based compensation expense	9.5	$ 8.5	$ 32.9	$ 24.0
Unrecognized compensation cost	$ 73.0		$ 73.0
Unrecognized compensation cost, weighted-average period			2 years 1 month 6 days
Awards, nonvested grants in period, shares		500,000	1,208,954	2,200,000
Requisite service period	4 years	4 years	4 years	4 years
Awards, nonvested grants in period, fair value	$ 2.1	$ 12.8	$ 57.3	$ 61.8
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%