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Stockholders’ Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Options Outstanding      
Outstanding, beginning balance (in shares) 1,986,978 1,901,163  
Granted (in shares) 0 625,578  
Exercised (in shares) (103,047) (145,525)  
Cancelled/Expired (in shares) (294,402) (394,328)  
Outstanding, ending balance (in shares) 1,589,529 1,986,978 1,901,163
Vested and exercisable (in shares) 1,386,891    
Weighted Average Exercise Price      
Outstanding, beginning balance (in dollars per share) $ 36.54 $ 33.05  
Granted (in dollars per share) 0 45.07  
Exercised (in dollars per share) 11.89 13.80  
Cancelled/Expired (in dollars per share) 24.07 41.61  
Outstanding, ending balance (in dollars per share) 16.13 $ 36.54 $ 33.05
Vested and exercisable (in dollars per share) $ 16.16    
Additional Disclosures      
Outstanding, weighted-average remaining, contract term (in years) 6 years 9 months 18 days 7 years 9 months 18 days 8 years 3 months 18 days
Outstanding, aggregate intrinsic value $ 0.2 $ 1.3 $ 84.8
Aggregate intrinsic value of options exercised 0.5 3.7  
Aggregate intrinsic value of options cancelled/Expired $ 0.2 $ 2.2  
Vested and exercisable, weighted-average remaining, contract term (in years) 6 years 8 months 12 days    
Vested and exercisable, aggregate intrinsic value $ 0.2