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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Preferred Stock, Shares Authorized | 5,000,000 |  |
Preferred Stock, Par or Stated Value Per Share | $ 0.0001 |  |
Preferred Stock, Shares Issued | 0 |  |
Shares Available For Grant | 900,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares |  | 322,546 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price |  | $ 49.64 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term | 3 years 3 months 18 days | 4 years 3 months 18 days |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Aggregate Intrinsic Value | $ 0.0 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value |  | $ 0.0 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period | 19,809 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures and Expirations in Period | (8,613) |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price | $ 45.32 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price | $ 50.53 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 294,124 |  |
Share based compensation awards vesting period | 3 years |  |
Unrecognized compensation costs | $ 13.5 |  |
Minimum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Requisite service period of award | 1 year |  |
Maximum |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Requisite service period of award | 3 years |  |
Equity Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Terms of Award | ten years |  |
Performance Shares [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation costs, expected weighted-average period to be recognized (in years) | 1 year 8 months 12 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 59,755 |  |
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Unrecognized compensation costs, expected weighted-average period to be recognized (in years) | 1 year 9 months 18 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number | 228,162 |  |
Director |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Share based compensation expense | $ 0.9 | 1.1 | $ 2.9
Deferred compensation share-based arrangements, liability, classified, noncurrent | (5.2) | (4.3) |
Deferred Compensation Share-based Arrangements, Liability, Current | $ 0.1 | $ 2.3 |

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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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