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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