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Accounting for Stock-Based Compensation - Additional Information (Details) |  |  |  | 12 Months Ended
--- | --- | --- | --- | ---
Mar. 01, 2023 USD ($) Director shares | Mar. 01, 2022 USD ($) Director shares | Mar. 01, 2021 USD ($) Director shares | Dec. 31, 2023 USD ($) Item $ / shares shares | Dec. 31, 2022 USD ($) Item $ / shares shares | Dec. 31, 2021 USD ($) Item $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Employee service share-based compensation, unrecognized compensation costs on nonvested awards |  |  |  | $ 27,000,000 |  |
Employee service share-based compensation total compensation cost not yet recognized, period for recognition |  |  |  | 20 months |  |
Employee service share-based compensation, nonvested awards, modifications to awards | Item |  |  |  | 0 | 0 | 0
Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Aggregate intrinsic value of options exercised |  |  |  | $ 1,000,000 | $ 1,000,000 | $ 1,000,000
Employee Stock Option |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Employee service share-based compensation total compensation cost not yet recognized, period for recognition |  |  |  | 20 months |  |
Employee service share-based compensation, unrecognized compensation costs on nonvested stock options |  |  |  | $ 5,000,000 |  |
Weighted-average grant date fair value of stock options | $ / shares |  |  |  | $ 4.61 | $ 7.25 | $ 6.22
Share Price | $ / shares |  |  |  | $ 3.13 |  |
Restricted Stock and RSUs |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Employee service share-based compensation total compensation cost not yet recognized, period for recognition |  |  |  | 20 months |  |
Employee service share-based compensation, unrecognized compensation costs on nonvested awards other than options |  |  |  | $ 22,000,000 |  |
Restricted Stock, Performance-Based Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation arrangement by payment award, performance objective measurement period |  |  |  | 3 years |  |
Restricted Stock Units (RSUs) |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation, number of grants | shares |  |  |  | 365,037 | 176,820 | 173,664
Number of directors elected to defer the receipt of RSUs granted | Director | 4 | 3 | 4 |  |  |
Restricted Stock |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation arrangement award vesting rights |  |  |  | one-third increments on each of the first three anniversaries of the award date |  |
Share-based compensation, number of grants | shares |  |  |  | 2,746,000 | 3,253,000 | 2,929,250
Plan 2009 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation arrangement award vesting rights |  |  |  | one-third increments on each of the first three anniversaries of the option grant date |  |
Contractual term of option granted |  |  |  | 10 years |  |
Unissued common stock reserved for grants | shares |  |  |  | 9,017,113 |  |
Plan 2009 | Restricted Stock Units (RSUs) | Non-management Directors |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation, number of grants | shares | 29,268 | 17,682 | 19,296 |  |  |
Fair value of units granted | $ 180,000 | $ 180,000 | $ 170,000 |  |  |
Plan 2009 | Restricted Stock Units (RSUs) | Board Of Directors Chairman |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation, number of grants | shares | 43,089 |  |  |  |  |
Fair value of units granted | $ 265,000 |  |  |  |  |
Performance-Based Awards Granted On March 1, 2018 | Restricted Stock, Performance-Based Units |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share-based compensation arrangement award vesting rights, percentage | 100.00% |  |  |  |  |

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