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Share-Based Payment Awards - Schedule of Compensation Cost related to Share-based Payments (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based expense	$ 6,100,000	$ 4,900,000	$ 5,900,000
Total recognized tax benefit	0	0	0
Share-based expense (net of tax)	6,100,000	4,900,000	5,900,000
Cash received upon option exercise	0	0	1,400,000
Intrinsic value of options exercised	0	0	600,000
Tax benefit realized upon option exercise	0	0	0
Fair value of stock vested	9,100,000	5,600,000	5,400,000
Time-based and market-based restricted stock units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total share-based expense	6,100,000	4,900,000	5,900,000
Total recognized tax benefit	$ 0	$ 0	$ 0

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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