Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating Loss Carryforwards [Line Items]      
Valuation allowance, change in amount $ (116.5) $ 136.9 $ (2.5)
Unrecognized tax benefits that would impact effective tax rate 30.2    
Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 9.2    
Internal Revenue Service (IRS)      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforward 162.4    
State and Local Jurisdiction      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforward 129.3    
State and Local Jurisdiction | California and New Jersey Research Tax Credit Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 23.1    
Non-US      
Operating Loss Carryforwards [Line Items]      
Operating loss carryforward 110.1 713.8  
Non-US | Capital Loss Carryforward      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward $ 17.6 $ 14.6