Stock Plans - ESPP FV Assumptions (Details) - ESPP - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based compensation
Cash proceeds	$ 3.7	$ 3.4	$ 2.9
Number of shares issued	208,140	196,024	254,703
Assumptions
Weighted average fair value (in dollars per share)	$ 6.00	$ 5.90	$ 4.81
Dividend yield (as a percent)	0.00%	0.00%	0.00%
Expected volatility factor (as a percent)	43.00%	52.00%	70.00%
Risk-free interest rate (as a percent)	1.73%	0.07%	0.95%
Expected life (in years)	6 months	6 months	6 months

Amount of cash inflow from issuance of shares under share-based payment arrangement. Excludes option exercised.

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

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The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Rate of weighted-average expected volatility for award under share-based payment arrangement.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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