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Stock-Based Compensation - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
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) 15,994,631      
Capitalization of stock based compensation expense $ 0      
Proceeds from stock options exercised $ 0 $ 4,300,000 $ 3,100,000  
Granted (in shares) 2,301,907      
Vested and distributed (in shares) (336,077)      
Share-based compensation expense, shares that vests on grant date $ 14,800,000 $ 9,500,000 15,200,000  
Stock options granted 0      
Shares outstanding (in shares) 1,771,690 673,169    
Weighted average grant date fair value (in dollar per share) $ 5.39      
Employee 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 $ 0 $ 4,300,000 3,100,000  
Options exercised   500,000 1,000,000  
Fair value of options vested during the period 3,400,000 3,100,000 2,700,000  
Unrecognized compensation expense $ 800,000      
Weighted average years expense to be recognized over 1 year      
Share-based compensation expense, shares that vests on grant date $ 2,700,000 $ 3,700,000 $ 3,600,000  
Restricted stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Award vesting period 3 years      
Unrecognized compensation expense $ 8,200,000      
Weighted average years expense to be recognized over 2 years      
Granted (in shares) 1,969,191 695,057 362,750  
Vested and distributed (in shares) (536,132)      
Share-based compensation expense, shares that vests on grant date $ 6,400,000 $ 4,400,000 $ 5,300,000  
Shares outstanding (in shares) 3,444,450 2,016,120    
Weighted average grant date fair value (in dollar per share) $ 5.23 $ 8.15 $ 8.78  
Fair value of stock awards vested $ 4,400,000 $ 5,100,000 $ 4,200,000  
Performance stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense $ 5,000,000      
Weighted average years expense to be recognized over 1 year 10 months 24 days      
Granted (in shares)   1,170,884 1,667,012  
Vested and distributed (in shares) (336,077) (350,656) 0  
Share-based compensation expense, shares that vests on grant date $ 5,700,000 $ 1,400,000 $ 6,300,000  
Weighted average grant date fair value (in dollar per share) $ 5.39 $ 8.88 $ 8.42  
Fair value of stock awards vested $ 2,800,000 $ 3,000,000 $ 0  
Shares called upon vested (in shares) 1      
Minimum | Performance stock units        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Percentage awarded 0.00%      
Maximum | Performance stock units        
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 | Restricted stock units | Non-employee directors        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Share-based compensation expense, shares that vests on grant date $ 1,300,000 $ 1,200,000 $ 700,000