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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