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Stock-Based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 05, 2022
Aug. 15, 2022
May 25, 2017
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares authorized (in shares)               25,625,000
Number of shares, outstanding (in shares)       4,214,617 2,961,195 3,785,941 5,318,759  
Number of shares available for grant (in shares)       4,900,000 6,800,000      
Strike price (in dollars per share)       $ 14.49 $ 42.13 $ 28.33    
Options, aggregate intrinsic value       $ 1.4        
Options exercisable, intrinsic value       $ 0.0        
Common stock closing price (in dollars per share)       $ 9.24        
Options outstanding and exercisable (in shares)       100,000        
Options exercised during period, intrinsic value       $ 6.1 $ 46.7 $ 68.6    
Proceeds from stock options exercised       10.3 13.7 18.4    
Fair value of options granted       28.9 23.2 7.5    
Fair value of options vested       8.3 $ 11.7 $ 5.2    
Incremental stock-based compensation for accelerated vesting       $ 8.6        
Common stock issuance ESPP plan (in shares)       415,450 112,094 138,309    
2022 CEO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Strike price (in dollars per share)   $ 12.62            
Award vesting period   4 years            
2022 CFO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Strike price (in dollars per share) $ 11.62              
Award vesting period 4 years              
Employee Stock Option                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Stock compensation expense       $ 8.1 $ 11.6 $ 6.0    
Unrecognized stock based compensation       $ 13.5        
Unrecognized stock based compensation, weighted average period       2 years 1 month 6 days        
Accelerated vesting (in shares)       353,265        
Incremental stock-based compensation for accelerated vesting       $ 2.7        
Employee Stock Option | 2022 CEO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares available for grant (in shares)   694,444            
Employee Stock Option | 2022 CFO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares available for grant (in shares) 249,169              
Restricted Stock                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Shares vested (in shares)       413,747 213,777 184,127    
Stock compensation expense       $ 15.5 $ 9.8 $ 3.4    
Unrecognized stock based compensation       $ 17.1        
Unrecognized stock based compensation, weighted average period       2 years 2 months 12 days        
Accelerated vesting (in shares)       285,114        
Incremental stock-based compensation for accelerated vesting       $ 5.9        
Restricted Stock | 2022 CEO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares available for grant (in shares)   602,219            
Restricted Stock | 2022 CFO Inducement Agreement                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Number of shares available for grant (in shares) 133,809              
Shares vested (in shares) 89,206              
Employee Stock Purchase Plan                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Stock compensation expense       $ 1.0 $ 1.1 $ 0.9    
Discount from market price (as a percent)     15.00%          
Minimum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Award vesting period       3 years        
Minimum | Employee Stock Option                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Expiration period       5 years        
Maximum                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Award vesting period       4 years        
Maximum | Employee Stock Option                
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                
Expiration period       7 years