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Stock-Based Compensation - Restricted Stock Awards and Performance-Based RSUs - Activity (Details) - Restricted stock and performance-based restricted stock units - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Shares      
Non-vested awards at beginning of period (in shares) 2,473    
Granted (in shares) 1,486    
Vested (in shares) (1,266)    
Canceled (in shares) (68)    
Non-vested awards at end of period (in shares) 2,625 2,473  
Weighted Average Grant Date Fair Value Per Share      
Non-vested awards at beginning of period (in dollars per share) $ 9.79    
Granted (in dollars per share) 10.28    
Vested (in dollars per share) 8.89    
Canceled (in dollars per share) 9.26    
Non-vested awards at end of period (in dollars per share) $ 10.19 $ 9.79  
Fair value of awards granted (in dollars) $ 15.3 $ 14.3 $ 12.1
Fair value of vested shares (in dollars) 12.4 $ 9.3 $ 8.5
Unrecognized compensation      
Unrecognized stock-based compensation expenses (in dollars) $ 14.4    
Weighted-average period over which the expected unrecognized compensation cost is expected to be recognized 1 year 8 months 12 days