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Share-Based Compensation - Restricted Stock Units Awards Narrative (Details) - Restricted Stock Units - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share-based compensation      
Recognized share-based compensation expense $ 3.7 $ 3.5 $ 4.4
Unrecognized compensation cost, net of estimated forfeitures, related to restricted stock unit awards $ 6.6    
Weighted-average period over which unrecognized compensation cost is expected to be recognized 2 years 7 months 6 days    
Vesting period 4 years