Share-based Compensation - Directors' Stock Grants (Details) - Nonemployee - USD ($) shares in Thousands, $ in Millions	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Granted (shares)	10	10	10
Nonemployee directors stock awards, Amount recognized in equity, fair value	$ 1.1	$ 0.7	$ 0.6

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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+ Details