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Stock-Based Compensation - Restricted Stock Units (Details)
$ / shares in Units, $ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Stock-based compensation      
Stock-based compensation expense | $ $ 10.3 $ 13.1 $ 10.0
Restricted Stock Units      
Stock-based compensation      
Ratio of common stock for each vested award 1    
Number of Shares      
Unvested as of beginning of period (in shares) | shares 185,329 43,550 44,783
Granted (in shares) | shares 169,497 198,771 28,783
Vested (in shares) | shares (74,178) (49,519) (30,016)
Forfeited (in shares) | shares (17,488) (7,473)  
Unvested as of end of period (in shares) | shares 263,160 185,329 43,550
Weighted Average Grant Date Fair Value      
Unvested as of beginning of period (in dollars per share) | $ / shares $ 27.09 $ 21.93 $ 27.82
Granted (in dollars per share) | $ / shares 28.35 27.13 15.86
Vested (in dollars per share) | $ / shares 27.18 23.08 27.47
Forfeited (in dollars per share) | $ / shares 26.80 26.37  
Unvested as of end of period (in dollars per share) | $ / shares $ 27.91 $ 27.09 $ 21.93
Stock-based compensation      
Total fair value of vested shares (in dollars) | $ $ 2.0 $ 1.0 $ 0.8
Unrecognized compensation expense | $ $ 4.1 $ 3.3 $ 0.4
Period for recognition of unrecognized compensation expense 10 months 24 days    
Restricted Stock Units | Non-employee directors      
Number of Shares      
Granted (in shares) | shares 20,023 21,839 28,783
Weighted Average Grant Date Fair Value      
Granted (in dollars per share) | $ / shares $ 27.66 $ 27.36 $ 15.86
Restricted Stock Units | Employees      
Number of Shares      
Granted (in shares) | shares 149,474 176,932 0
Weighted Average Grant Date Fair Value      
Granted (in dollars per share) | $ / shares $ 28.44 $ 27.10