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Stock-based Compensation - Narrative (Details) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 12 Months Ended
Jan. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Unrecognized compensation expense   $ 14.6 $ 17.8    
Excess tax benefit from share based compensation   $ 0.1 $ 2.3 $ 5.2  
Maximum percentage of common stock outstanding allowed for awards (as a percent)   10.00%      
Options granted (in shares)   315,881 262,097 1,449,779  
Number of shares outstanding which vested (in shares)   1,298,409 1,556,486 2,249,611 1,228,399
Fair value of vested options   $ 1.3 $ 0.3 $ 0.4  
Weighted-average exercise price of non-vested awards (in usd per share)   $ 11.85 $ 10.98    
Weighted-average remaining contractual term of outstanding awards (in years)   7 years 3 months 18 days 7 years 6 months    
Intrinsic value of options exercised   $ 0.6 $ 5.2 2.2  
Intrinsic value of options outstanding   $ 0.4      
Key Employees          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Number of shares outstanding which vested (in shares)   207,341 145,555    
Weighted-average remaining contractual term (in years)   4 years 6 months 3 years 6 months    
Class A-1 Common Stock          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Options granted (in shares)   315,881      
Options          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Stock option compensation expense   $ 6.8 $ 6.4 $ 5.5  
Vesting period   4 years      
Percentage of fair market value of common stock (not less than) (as a percent)   100.00%      
Award termination period (in years)   10 years      
Options | Long Term Incentive Plan          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period 10 years 4 years      
Options | Class A-1 Common Stock          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Common stock, number of shares authorized (in shares) 6,000,000        
Options | Minimum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   3 years 4 years 4 years  
Options | Maximum          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   5 years   5 years  
Restricted Stock Units (RSUs)          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Estimated grant date fair value of options and RSUs granted   $ 2.3      
Restricted stock units granted (in shares)   569,600 558,193 1,665,968  
Estimated grant date fair value   $ 6.9      
Restricted Stock Units (RSUs) | Minimum | Employee          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   2 years      
Restricted Stock Units (RSUs) | Maximum | Employee          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   5 years      
Restricted Stock Units (RSUs) | Maximum | Director          
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]          
Vesting period   1 year