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Share-Based Compensation - Narrative (Details) $ / shares in Units, $ in Millions | 12 Months Ended
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Dec. 31, 2022 USD ($) plan $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Number of plans | plan | 5 |  |
Total share-based compensation expense | $ 7.8 | $ 9.5 | $ 6.0
Total excess tax benefit recognized for share-based compensation arrangements | $ 0.3 | $ 0.7 | $ 0.3
Weighted-average grant date fair value of stock options granted (in dollars per share) | $ / shares | $ 23.45 | $ 22.01 | $ 18.45
Total intrinsic value of stock options exercised | $ 0.4 | $ 3.9 | $ 3.3
Aggregate intrinsic value of options outstanding | 1.8 |  |
Aggregate intrinsic value of options exercisable | $ 1.8 |  |
Weighted-average remaining contractual life for options outstanding | 4 years 8 months 12 days |  |
Weighted-average remaining contractual life for options exercisable | 4 years 2 months 12 days |  |
Total share-based liabilities | $ 0.3 | 0.3 |
Option |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
New stock option awards granted vest period | 3 years |  |
Contractual term | 10 years |  |
Unrecognized compensation cost for non-vested options | $ 1.5 |  |
Weighted-average period | 1 year 3 months 18 days |  |
Restricted Stock |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
New stock option awards granted vest period | 3 years |  |
Unrecognized compensation cost for non-vested options | $ 1.5 |  |
Weighted-average period | 1 year 9 months 18 days |  |
Required service period following grant date | 6 months |  |
Total fair value of restricted shares vested | $ 1.7 | $ 1.2 | $ 0.7
Vesting rights, required advance notice for resignation, period | 6 months |  |
Vested (in shares) | shares | 29,030 |  |
Restricted Stock | Year One |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Vesting percentage of awards granted | 33.33% |  |
Restricted Stock | Year Two |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Vesting percentage of awards granted | 33.33% |  |
Restricted Stock | Year Three |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Vesting percentage of awards granted | 33.33% |  |
Performance Shares |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
New stock option awards granted vest period | 3 years |  |
Unrecognized compensation cost for non-vested options | $ 3.6 |  |
Weighted-average period | 1 year 8 months 12 days |  |
Percentage of maximum increase in number of shares participant receives based on achievement of performance goals | 200.00% |  |
Potential lowest number of shares participant receives based on achievement of performance goals | 0.00% |  |
Vested (in shares) | shares | 43,198 | 43,621 | 29,595
Restricted Stock Units (RSUs) |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
New stock option awards granted vest period | 3 years |  |
Unrecognized compensation cost for non-vested options | $ 3.1 |  |
Weighted-average period | 1 year 4 months 24 days |  |
Total fair value of restricted shares vested | $ 0.5 | $ 3.2 | $ 2.6
Vested (in shares) | shares | 15,673 |  |
The 2010 Plan and the 2017 Plan |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Shares reserved for issuance (in shares) | shares | 1,130,323 |  |
The 2020 Plan |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |
Shares reserved for issuance (in shares) | shares | 1,317,699 |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of tax benefit for recognition of expense of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Fair value of share-based awards for which the grantee gained the right by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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