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Stockholders’ Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Dec. 31, 2022
Options Outstanding        
Outstanding, beginning balance (in shares)     1,986,978  
Granted (in shares) 0 0 0  
Exercised (in shares)     (103,002)  
Cancelled/Expired (in shares)     (257,719)  
Outstanding, ending balance (in shares) 1,626,257   1,626,257 1,986,978
Vested and exercisable (in shares) 1,273,336   1,273,336  
Weighted Average Exercise Price        
Outstanding, beginning balance (in dollar per share)     $ 36.54  
Granted (in dollars per share)     0  
Exercised (in dollars per share)     11.89  
Cancelled/Expired (in dollars per share)     25.30  
Outstanding, ending balance (in dollar per share) $ 16.12   16.12 $ 36.54
Vested and exercisable (in dollars per share) $ 16.09   $ 16.09  
Additional Disclosures        
Outstanding, weighted-average remaining, contract term (in years)     7 years 1 month 6 days 7 years 9 months 18 days
Outstanding, aggregate intrinsic value $ 0.1   $ 0.1 $ 1.3
Vested and exercisable, weighted-average remaining, contract term (in years)     6 years 10 months 24 days  
Vested and exercisable, aggregate intrinsic value $ 0.1   $ 0.1