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Stock-Based Compensation - Narrative (Details) - USD ($)
12 Months Ended
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