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Stock Plans and Share-Based Compensation - Stock Option Activities (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Number of Shares      
Balance at beginning of period (in shares) 1,900,000    
Granted (in shares) 0 0 3,200,000
Exercised (in shares) (300,000)    
Forfeited (in shares) 0    
Expired (in shares) (500,000)    
Balance at end of period (in shares) 1,100,000 1,900,000  
Vested and expected to vest at end of period (in shares) 1,100,000    
Exercisable at end of period (in shares) 1,000,000.0    
Weighted- Average Exercise Price Per Share      
Balance at beginning of period (in dollars per share) $ 26.97    
Granted (in dollars per share) 0    
Exercised (in dollars per share) 15.11    
Forfeited (in dollars per share) 35.14    
Expired (in dollars per share) 29.93    
Balance at end of period (in dollars per share) 28.44 $ 26.97  
Vested and expected to vest at end of period (in dollars per share) 28.44    
Exercisable at end of period (in dollars per share) $ 28.20    
Weighted- Average Remaining Contractual Term      
Outstanding balance at end of period 3 years 2 months 4 days    
Vested and expected to vest in the future at end of period 3 years 2 months 4 days    
Exercisable at end of period 3 years 25 days    
Aggregate Intrinsic Value      
Outstanding balance at end of period $ 0.1    
Vested and expected to vest in the future at end of period 0.1    
Exercisable at end of period $ 0.1    
Range of Option Prices, Minimum $ 6.91    
Range of Option Prices, Maximum $ 35.14