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Share-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Millions
12 Months Ended
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