Stock-Based Incentive Compensation Plans - Narrative (Details) $ in Millions	1 Months Ended	3 Months Ended		9 Months Ended
	May 31, 2020 purchase_period	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 shares	Sep. 30, 2023 USD ($) shares	Sep. 30, 2022 USD ($) shares	Dec. 31, 2022 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock options granted (in shares) | shares		0	0	0	0
Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost		$ 34.4		$ 34.4
Unrecognized compensation cost, expected period for recognition (in years)				2 years 6 months
Restricted Stock Units | Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance period				2 years
Restricted Stock Units | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance period				4 years
Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost		2.8		$ 2.8
Unrecognized compensation cost, expected period for recognition (in years)				2 years
2018 ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Purchase price of common stock as a percent of fair market value (percent)				85.00%
Employee stock purchase program offering period interval (in months)	12 months			6 months
Number of purchase periods in offering interval | purchase_period	2
Accrued compensation and related expenses for employee payroll deductions		$ 0.6		$ 0.6		$ 0.3
2018 ESPP | Performance Shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Performance period				3 years
2018 ESPP | Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP (in shares) | shares				130,867	112,773
Employee ESPP contributions				$ 1.5	$ 1.2