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Stock Based Compensation - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
2017 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Maximum shares issuable (in shares) 43,170,000      
Common shares reserved for issuance (in shares) 28,796,097 31,367,872    
2017 Plan | Non-employee director        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock issued (in shares)   687,503    
2017 Plan | Non-employee director | Director        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock issued (in shares) 919,019      
2017 Plan | Employee | Employee        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock issued (in shares) 3,809,403      
Restricted Stock        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding, unvested restricted stock (in shares) 2,104,568 1,909,107 1,603,766 837,123
Non-cash compensation expense $ 4.6 $ 4.3 $ 3.8  
Unrecognized compensation expense $ 4.5 5.1    
Weighted average period to recognize the unrecognized compensation expense 1 year 8 months 12 days      
Fair value of shares vested $ 3.3 $ 2.5 $ 1.8  
Shares vested (in shares) 924,548 621,438 287,611  
Restricted Stock | 2010 Stock Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding, unvested restricted stock (in shares) 0      
Restricted Stock | 2017 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding, unvested restricted stock (in shares) 2,104,568 1,909,107    
Restricted Stock | 2017 Plan | Employee        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock issued (in shares)   2,689,394    
Performance Shares        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Fair value assumptions, expected term 3 years      
Expected term for expected volatility rate 3 years      
Performance Shares | 2017 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common shares reserved for issuance (in shares) 6,233,373 6,168,886    
Non-cash compensation expense $ 6.1 $ 5.5 $ 5.0  
Unrecognized compensation expense $ 5.7 7.6 $ 5.7  
Weighted average period to recognize the unrecognized compensation expense 1 year 6 months      
Fair value of shares vested $ 2.6 $ 3.7    
Award vesting period 3 years 3 years 3 years  
Number of consecutive trading days for Total Shareholder Return (TSR) calculation 30 days      
Fair value assumptions, expected term 3 years      
Shares vested (in shares) 733,496 974,074    
Vested shares target (in shares) 1,074,918 842,792    
Performance Shares | 2017 Plan | Relative TSR performance Is Less than the 30th percentile        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights percentage 0.00%      
Performance Shares | 2017 Plan | Relative TSR performance Is equal to the 50th percentile        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting rights percentage 100.00%      
RSUs        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares outstanding, unvested restricted stock (in shares) 1,054,880 1,016,252 441,746 0
Unrecognized compensation expense $ 2.0 $ 2.7 $ 1.8  
Weighted average period to recognize the unrecognized compensation expense 1 year 6 months      
Fair value of shares vested $ 1.4 $ 0.5    
Requisite service period 3 years 3 years    
Shares vested (in shares) 383,639 147,254 0  
RSUs | 2017 Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Common shares reserved for issuance (in shares) 1,054,880 1,016,252    
Non-cash compensation expense $ 2.3 $ 1.7 $ 0.9  
Award vesting period 3 years