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Stock-Based Compensation - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized for awards (shares) | 5,000,000 |  |  |
Unamortized stock-based compensation expense | $ 10.4 |  |  |
RSAs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  | 3 years | 4 years
RSAs | Non-Employees |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  |  | 1 year
PSAs | Minimum | Vesting Period Range One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  | 1 year |
PSAs | Minimum | Vesting Period Range Two |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  |  | 1 year
PSAs | Maximum | Vesting Period Range One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  | 3 years |
PSAs | Maximum | Vesting Period Range Two |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  |  |  | 4 years
TSR Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period (in years) |  | 3 years | 3 years |
Total fair value of awards granted | $ 2.9 | $ 2.5 | $ 5.3 |
TSR Units | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Performance awards ultimately vesting based on TRS, as percentage of initial grant | 0.00% |  |  |
TSR Units | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Performance awards ultimately vesting based on TRS, as percentage of initial grant | 200.00% |  |  |
RSAs and PSAs |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Weighted-average remaining vesting period (in years) | 1 year 8 months 12 days |  |  |

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