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Share-Based Compensation - Share-Based Compensation Expense and Cash Flows (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-Based Payment Arrangement [Abstract] |  |  |
Share-based compensation expense | $ 6.9 | $ 8.4 | $ 10.0
Tax benefit | 0.0 | 0.0 | 0.0
Share-based compensation expense, net of tax benefit | 6.9 | 8.4 | 10.0
Cash received upon the exercise of stock options | 0.0 | 0.0 | 0.0
Write-off tax benefits related to share-based compensation | $ 0.0 | $ 0.0 | $ 0.0

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