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Stock Plans and Share-Based Compensation - Narrative (Details) $ / shares in Units, $ in Millions |  | 12 Months Ended
--- | --- | ---
Mar. 08, 2021 USD ($) plan $ / shares | Dec. 31, 2023 USD ($) plan shares | Dec. 31, 2022 shares | Dec. 31, 2021 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Number of shareholder approved stock plans | plan |  | 2 |  |
Available (in shares) |  | 12,000,000.0 |  |
Authorized (in shares) |  | 53,700,000 |  |
Number of compensation plans | plan | 2 |  |  |
Granted (in shares) |  | 0 | 0 | 3,200,000
Weighted average grant date fair value (in dollars per share) | $ / shares | $ 25.93 |  |  |
Fair value of options | $ | $ 5.3 |  |  |
2022 Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Available (in shares) |  | 12,000,000.0 |  |
Authorized (in shares) |  | 16,000,000.0 | 16,000,000 |
Stock Options |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total unrecognized compensation expense related to non-vested shares granted | $ |  | $ 0.1 |  |
2004 Incentive Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Maximum number of shares per employee (in shares) |  | 2,000,000 |  |
Available (in shares) |  | 0 |  |
2021 Inducement Plan |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Available (in shares) |  | 0 |  |

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