Stock-Based Compensation - Incentive Stock Options and Nonqualified Stock Options - Narrative (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Incentive Stock Options and Nonqualified Stock Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost	$ 27.7
Unrecognized compensation expense, weighted average period	2 years 7 months 6 days
Intrinsic value of time-based stock options exercised	$ 2.0	$ 6.9
Grant date fair value of stock option (in dollars per share)	$ 7.82	$ 16.94
2015 Equity and 2020 Incentive Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period	4 years
Expiration period from date of grant	10 years

Weighted-average period over which cost not yet recognized is expected to be recognized for 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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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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Amount of cost to be recognized for option under share-based payment arrangement.

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-Publisher FASB
-Name Accounting Standards Codification
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- Definition

Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

+ References

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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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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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-Publisher FASB
-Name Accounting Standards Codification
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-SubTopic 10
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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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-Publisher FASB
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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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