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Stock-based Compensation - Narrative (Details) $ in Millions	12 Months Ended
	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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