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Stock-Based Compensation - Additional Information (Details) - Long-Term Incentive Plan $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) plan shares | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of equity stock based compensation plans (plan) | plan | 2 |  |
Number of shares permitted for granting (in shares) | shares | 1,500,000 |  |
Stock based compensation expense | $ 8.4 | $ 7.9 | $ 7.5
Unrecognized stock-based compensation expense | $ 9.9 |  |
Stock Options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award expiration period | 10 years |  |
Intrinsic value of options exercised | $ 0.1 | 0.1 | 1.2
Time-vested stock awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Intrinsic value of common stock at the time of vesting | 7.3 | 7.0 | 5.7
Unrecognized stock-based compensation expense | $ 5.3 |  |
Remaining weighted average vesting period | 1 year 6 months |  |
Time-vested stock awards | Employee |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 3 years |  |
Service period | 3 years |  |
Time-vested stock awards | Nonemployee |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 1 year |  |
Service period | 1 year |  |
Performance awards |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Service period | 2 years 9 months 18 days |  |
Intrinsic value of common stock at the time of vesting | $ 12.0 | $ 15.7 | $ 12.7
Unrecognized stock-based compensation expense | $ 4.6 |  |
Remaining weighted average vesting period | 1 year 6 months |  |
Performance awards | Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of potential target shares awarded | 0.00% |  |
Performance awards | Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage of potential target shares awarded | 200.00% |  |

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