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Stock-based Compensation - Narrative (Details) $ in Millions |  | 12 Months Ended
--- | --- | ---
May 07, 2014 shares | Dec. 31, 2022 USD ($) criteria type_of_book_value_RSU shares | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ |  | $ 15.6 | $ 26.5 | $ 17.6
Restricted Stock Units (RSUs) |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of different vesting criteria | criteria |  | 4 |  |
Number of shares granted |  | 1,514,875 |  |
Number of shares other than options granted |  | 652,016 |  |
Expected to vest in next fiscal year (in shares) |  | 230,470 |  |
Expected to vest in two years (in shares) |  | 533,179 |  |
Expected to vest in three years (in shares) |  | 429,569 |  |
Unrecognized compensation cost | $ |  | $ 28.6 |  |
Weighted-average period of recognition of unrecognized stock-based compensation cost |  | 1 year 8 months 15 days |  |
Restricted Stock Units (RSUs) | Share-based Payment Arrangement, Tranche One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
Restricted Stock Units (RSUs) | Share-based Payment Arrangement, Tranche Two | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 1 year |  |
Restricted Stock Units (RSUs) | Share-based Payment Arrangement, Tranche Two | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 2 years |  |
Restricted Stock With Book Value Conditions |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of types of book value RSUs | type_of_book_value_RSU |  | 2 |  |
Number of shares granted |  | 636,375 |  |
Number of shares other than options granted |  | 220,437 |  |
Restricted Stock With Book Value Conditions | Share-based Payment Arrangement, Tranche One |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
Restricted Stock With Book Value Conditions | Share-based Payment Arrangement, Tranche Two |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
Restricted Stock With Book Value Conditions | Share-based Payment Arrangement, Tranche Two | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Percentage of shares vested |  | 0.00% |  |
Restricted Stock With Book Value Conditions | Share-based Payment Arrangement, Tranche Two | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Percentage of shares vested |  | 200.00% |  |
Restricted Stock With Total Shareholder Return Conditions |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
Percentage of shares vested |  | 100.00% |  |
Number of shares granted |  | 340,134 |  |
Number of shares other than options granted |  | 110,237 |  |
Restricted Stock With Total Shareholder Return Conditions | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Percentage of shares vested |  | 0.00% |  |
Restricted Stock With Total Shareholder Return Conditions | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Percentage of shares vested |  | 200.00% |  |
Share-based Payment Arrangement, Option |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Vesting period |  | 3 years |  |
Term of award |  | 10 years |  |
Equity Incentive Plan 2010 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares granted | 0 |  |  |
Equity Incentive Plan 2014 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shares authorized |  | 4,221,026 |  |

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