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Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
May 25, 2017
Jun. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
May 25, 2023
Mar. 25, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum number shares available for future issuance (in shares)           29,600,000  
Stock compensation expense     $ 24.6 $ 24.7 $ 22.5    
Number of shares available for grant (in shares)     7,600,000 4,900,000      
Proceeds from stock options exercised     $ 3.0 $ 10.3 13.7    
Fair value of options vested     6.2 $ 8.3 $ 11.7    
Repurchase program adjustment     $ 0.9        
Issuance of common stock for ESPP (in shares)     326,697 415,450 112,094    
Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock compensation expense     $ 9.9 $ 8.1 $ 11.6    
Unrecognized stock based compensation     $ 12.8        
Unrecognized stock based compensation, weighted average period     1 year 8 months 12 days        
Accelerated vesting (in shares)     101,937        
Repurchase program adjustment     $ 0.3        
Restricted stock awards              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock compensation expense     12.3 15.5 9.8    
Unrecognized stock based compensation     $ 15.3        
Unrecognized stock based compensation, weighted average period     1 year 9 months 18 days        
Fair value of restricted stock     $ 8.7 $ 13.7 $ 7.0    
Granted (in shares)     1,006,698 2,865,727 936,648    
Accelerated vesting (in shares)     61,746        
Repurchase program adjustment     $ 0.6        
PSU              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock compensation expense     $ 1.4 $ 0.0 $ 0.0    
Unrecognized stock based compensation, weighted average period     2 years 4 months 24 days        
Granted (in shares)     305,105        
Granted in period, fair value     $ 6.7        
Requisite service period   3 years          
Unrecognized stock-based compensation expense     5.2        
Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock compensation expense     $ 1.0 $ 1.0 $ 1.1    
Discount from market price 15.00%            
Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period     3 years        
Minimum | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period     7 years        
Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Award vesting period     4 years        
Maximum | Stock Options              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Expiration period     10 years        
2023 Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Maximum number shares available for future issuance (in shares)             3,975,000