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Stock-Based Compensation - Cash Settled Performance Units (Details) - Cash-settled performance units - USD ($) $ / shares in Units, shares in Thousands, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based payment awards
Vesting period	3 years
Shares
Non-vested awards at beginning of period (in shares)	509
Granted (in shares)	199
Canceled (in shares)	(160)
Non-vested awards at end of period (in shares)	548	509
Weighted Average Grant Date Fair Value Per Share
Non-vested awards at beginning of period (in dollars per share)	$ 9.27
Granted (in dollars per share)	9.42
Canceled (in dollars per share)	9.09
Non-vested awards at end of period (in dollars per share)	$ 9.37	$ 9.27
Fair value of awards granted (in dollars)	$ 1.9	$ 2.5	$ 2.3
Cash paid upon vesting	0.0	$ 1.2	$ 0.6
Unrecognized compensation
Unrecognized stock-based compensation expenses (in dollars)	$ 6.3
Weighted-average period over which the expected unrecognized compensation cost is expected to be recognized	1 year 8 months 12 days
Minimum
Stock-based payment awards
Vesting percentage	0.00%
Maximum
Stock-based payment awards
Vesting percentage	200.00%

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