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Stock-based Compensation - Narrative (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) criteria shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Stock-based compensation expense | $ | $ 34.6 | $ 15.6 | $ 26.5
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 other than options granted | 704,565 |  |
Expected to vest in next fiscal year (in shares) | 592,268 |  |
Expected to vest in two years (in shares) | 597,904 |  |
Expected to vest in three years (in shares) | 617,338 |  |
Unrecognized compensation cost | $ | $ 34.7 |  |
Weighted-average period of recognition of unrecognized stock-based compensation cost | 1 year 8 months 1 day |  |
Restricted Stock Units (RSUs) | Tranche One |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 3 years |  |
Restricted Stock Units (RSUs) | Tranche Two |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Vesting period | 1 year |  |
Restricted Stock Units (RSUs) | Tranche Three |  |  |
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 shares other than options granted | 243,206 |  |
Restricted Stock with Total Shareholder Return Conditions |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares other than options granted | 121,608 |  |
Equity Incentive Plan 2023 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares available | 4,142,948 |  |

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