A baler for forming a bale of crop material includes a plurality of walls defining a bale chamber. A drive roller and a plurality of idler rollers are disposed in the bale chamber. At least one baling belt contacts the drive roller and the plurality of idler rollers. A bale engagement roller is rotatable about a bale engagement roller axis. The bale engagement roller is positioned to directly engage crop material in the bale chamber. An actuator is coupled to the bale engagement roller. The actuator translates the bale engagement roller in a direction perpendicular to the bale engagement roller axis.