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Share-based Compensation and Equity - Summary of Stock Option Plans, by Exercise Price Range (Details) - $ / shares | 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] |  |  |  |
Exercise Prices | $ 5.74 | $ 7.00 | $ 9.89 | $ 17.85
Options Outstanding, Number of Shares (in shares) | 363,000 | 559,000 | 2,163,000 | 3,428,000
Options Exercisable, Number of Shares (in shares) | 363,000 | 559,000 | 2,163,000 |
Stock options, net of estimated forfeitures |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Expected dividend yield | 0.00% | 0.00% | 0.00% |
$4.17 - $8.09 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options Outstanding, Number of Shares (in shares) | 363,000 |  |  |
Options Outstanding, Weighted Average Remaining Contractual Terms (Years) | 3 years 11 months 23 days |  |  |
Options Exercisable, Number of Shares (in shares) | 363,000 |  |  |
Options Exercisable, Weighted Average Remaining Contractual Terms (Years) | 3 years 11 months 23 days |  |  |
Risk-Free Interest Rate, minimum | 1.45% |  |  |
Risk-Free Interest Rate, maximum | 3.05% |  |  |
Expected Volatility, minimum | 36.40% |  |  |
Expected Volatility, maximum | 58.84% | 58.84% |  |
$4.17 - $8.09 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices | $ 4.17 |  |  |
Expected Terms in Years | 3 years 8 months 26 days |  |  |
$4.17 - $8.09 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices | $ 8.09 |  |  |
Expected Terms in Years | 7 years 1 month 13 days |  |  |
$4.87 - $8.79 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options Outstanding, Number of Shares (in shares) |  | 559,000 |  |
Options Outstanding, Weighted Average Remaining Contractual Terms (Years) |  | 3 years 7 months 20 days |  |
Options Exercisable, Number of Shares (in shares) |  | 559,000 |  |
Options Exercisable, Weighted Average Remaining Contractual Terms (Years) |  | 3 years 7 months 20 days |  |
Risk-Free Interest Rate, minimum |  | 1.45% |  |
Risk-Free Interest Rate, maximum |  | 3.05% |  |
Expected Volatility, minimum |  | 36.40% |  |
$4.87 - $8.79 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  | $ 4.87 |  |
Expected Terms in Years |  | 3 years 2 months 12 days |  |
$4.87 - $8.79 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  | $ 8.79 |  |
Expected Terms in Years |  | 7 years 1 month 13 days |  |
$6.38 - $7.96 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options Outstanding, Number of Shares (in shares) |  |  | 414,000 |
Options Outstanding, Weighted Average Remaining Contractual Terms (Years) |  |  | 5 years 11 months 23 days |
Options Exercisable, Number of Shares (in shares) |  |  | 414,000 |
Options Exercisable, Weighted Average Remaining Contractual Terms (Years) |  |  | 5 years 11 months 23 days |
Risk-Free Interest Rate, minimum |  |  | 2.68% |
Risk-Free Interest Rate, maximum |  |  | 3.05% |
Expected Volatility, minimum |  |  | 38.29% |
Expected Volatility, maximum |  |  | 57.25% |
$6.38 - $7.96 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 6.38 |
Expected Terms in Years |  |  | 5 years 6 months 14 days |
$6.38 - $7.96 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 7.96 |
Expected Terms in Years |  |  | 5 years 10 months 28 days |
$8.79 - $10.30 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options Outstanding, Number of Shares (in shares) |  |  | 1,655,000 |
Options Outstanding, Weighted Average Remaining Contractual Terms (Years) |  |  | 1 year 6 months 10 days |
Options Exercisable, Number of Shares (in shares) |  |  | 1,655,000 |
Options Exercisable, Weighted Average Remaining Contractual Terms (Years) |  |  | 1 year 6 months 10 days |
Risk-Free Interest Rate, minimum |  |  | 1.45% |
Risk-Free Interest Rate, maximum |  |  | 2.34% |
Expected Volatility, minimum |  |  | 35.20% |
Expected Volatility, maximum |  |  | 58.84% |
$8.79 - $10.30 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 8.79 |
Expected Terms in Years |  |  | 3 years 2 months 12 days |
$8.79 - $10.30 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 10.30 |
Expected Terms in Years |  |  | 7 years 1 month 13 days |
$15.27 - $24.33 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Options Outstanding, Number of Shares (in shares) |  |  | 94,000 |
Options Outstanding, Weighted Average Remaining Contractual Terms (Years) |  |  | 5 months 8 days |
Options Exercisable, Number of Shares (in shares) |  |  | 94,000 |
Options Exercisable, Weighted Average Remaining Contractual Terms (Years) |  |  | 5 months 8 days |
Risk-Free Interest Rate, minimum |  |  | 0.76% |
Risk-Free Interest Rate, maximum |  |  | 2.35% |
Expected Volatility, minimum |  |  | 39.38% |
Expected Volatility, maximum |  |  | 53.80% |
$15.27 - $24.33 | Minimum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 15.27 |
Expected Terms in Years |  |  | 4 years 1 month 28 days |
$15.27 - $24.33 | Maximum |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Exercise Prices |  |  | $ 24.33 |
Expected Terms in Years |  |  | 6 years 6 months 7 days |

X
- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References No definition available. + Details
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- Definition The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References No definition available. + Details
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