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Stock-Based Compensation - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Number of shares authorized (in shares) | 7,250,000 |  |
Capitalization of stock based compensation expense | $ 0 |  |
Proceeds from stock options exercised | $ 4,300,000 | $ 3,100,000 | $ 4,400,000
Granted (in shares) | 1,170,884 |  |
Vested and distributed (in shares) | (350,656) |  | (377,073)
Share-based compensation expense, shares that vests on grant date | $ 9,500,000 | $ 15,200,000 | $ 6,500,000
Shares outstanding (in shares) | 673,169 | 1,758,220 |
Weighted average grant date fair value (in dollar per share) | $ 8.88 |  |
Stock option |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Exercise period | 7 years |  | 10 years
Award vesting period | 3 years |  |
Proceeds from stock options exercised | $ 4,300,000 | $ 3,100,000 | $ 4,400,000
Options exercised | 500,000 | 1,000,000.0 | 1,600,000
Fair value of options vested during the period | 3,100,000 | 2,700,000 | 2,700,000
Unrecognized compensation expense | $ 3,600,000 |  |
Weighted average years expense to be recognized over | 1 year 10 months 24 days |  |
Share-based compensation expense, shares that vests on grant date | $ 3,700,000 | $ 3,600,000 | $ 2,700,000
RSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 3 years |  |
Unrecognized compensation expense | $ 3,900,000 |  |
Weighted average years expense to be recognized over | 1 year 10 months 24 days |  |
Granted (in shares) | 695,057 | 362,750 | 724,319
Vested and distributed (in shares) | (489,964) |  |
Share-based compensation expense, shares that vests on grant date | $ 4,400,000 | $ 5,300,000 | $ 5,200,000
Shares outstanding (in shares) | 2,016,120 | 1,906,891 |
Weighted average grant date fair value (in dollar per share) | $ 8.15 | $ 8.78 | $ 7.92
Fair value of stock awards vested | $ 5,100,000 | $ 4,200,000 | $ 4,700,000
PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation expense | $ 900,000 |  |
Weighted average years expense to be recognized over | 1 year |  |
Granted (in shares) |  | 1,667,012 | 939,529
Vested and distributed (in shares) | (350,656) | 0 |
Share-based compensation expense, shares that vests on grant date | $ 1,400,000 | $ 6,300,000 | $ (1,400,000)
Weighted average grant date fair value (in dollar per share) | $ 8.88 | $ 8.42 | $ 8.25
Fair value of stock awards vested | $ 3,000,000.0 | $ 0 | $ 4,800,000
Shares called upon vested (in shares) | 1 |  |
Minimum | PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Percentage awarded | 0.00% |  |
Maximum | PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Award vesting period | 3 years |  |
Percentage awarded | 200.00% |  |
Fully Vested On The Grant Date | RSUs | Non-employee directors |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based compensation expense, shares that vests on grant date | $ 1,200,000 | $ 700,000 | $ 900,000

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