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Stock Based Compensation - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares outstanding, unvested restricted stock (in shares) | 524,570 | 526,074 | 477,218 | 400,899 |  |
Non-cash compensation expense | $ 3.7 | $ 4.6 | $ 4.3 |  |  |
Unrecognized compensation expense | $ 3.9 | 4.5 |  |  |  |
Weighted average period to recognize the unrecognized compensation expense | 1 year 7 months 6 days |  |  |  |  |
Fair value of shares vested | $ 3.1 | $ 3.3 | $ 2.5 |  |  |
Shares vested (in shares) | 253,912 | 231,128 | 155,350 |  |  |
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 |  |  |  |  |
RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares outstanding, unvested restricted stock (in shares) | 351,974 | 263,708 | 254,052 | 110,434 |  |
Unrecognized compensation expense | $ 2.1 | $ 2.0 | $ 2.7 |  |  |
Weighted average period to recognize the unrecognized compensation expense | 1 year 9 months 18 days |  |  |  |  |
Fair value of shares vested | $ 1.4 | $ 1.4 | $ 0.5 |  |  |
Requisite service period | 3 years | 3 years | 3 years |  |  |
Shares vested (in shares) | 131,094 | 95,910 | 36,816 |  |  |
2017 Plan |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Maximum shares issuable (in shares) | 10,792,500 |  |  |  |  |
Common shares reserved for issuance (in shares) | 6,249,922 | 7,199,024 |  |  |  |
2017 Plan | Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Shares outstanding, unvested restricted stock (in shares) | 524,570 | 526,074 |  |  |  |
2017 Plan | Performance Shares |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common shares reserved for issuance (in shares) | 1,802,352 | 1,558,343 |  |  |  |
Non-cash compensation expense | $ 4.7 | $ 6.1 | $ 5.5 |  |  |
Unrecognized compensation expense | $ 4.9 | 5.7 | 7.6 |  |  |
Weighted average period to recognize the unrecognized compensation expense | 1 year 8 months 12 days |  |  |  |  |
Fair value of shares vested | $ 2.0 | $ 2.6 | $ 3.7 |  |  |
Fair value assumptions, expected term | 3 years |  |  |  |  |
Award vesting period | 3 years |  |  | 3 years | 3 years | 3 years
Shares vested (in shares) | 161,577 | 183,373 | 243,512 |  |  |
Vested shares target (in shares) | 201,978 | 268,728 | 210,693 |  |  |
2017 Plan | RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common shares reserved for issuance (in shares) | 351,974 | 263,708 |  |  |  |
Non-cash compensation expense | $ 2.0 | $ 2.3 | $ 1.7 |  |  |
Award vesting period | 3 years |  |  |  |  |
2017 Plan | Non-employee director |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock issued (in shares) |  | 229,754 |  |  |  |
2017 Plan | Employee | Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock issued (in shares) |  | 952,350 |  |  |  |
2017 Plan | Director | Non-employee director |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock issued (in shares) | 301,472 |  |  |  |  |
2017 Plan | Employee | Employee |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock issued (in shares) | 1,204,781 |  |  |  |  |

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