Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
Income Taxes - Narrative (Details) - USD ($) $ in Millions	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Line Items]
Valuation allowance, change in amount	$ (21.5)	$ (11.4)	$ 116.5
Unrecognized tax benefits that would impact effective tax rate	27.3
Increase to current federal income tax expense due to Tax Cuts and Jobs Act	4.7
Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	8.5	9.3
Internal Revenue Service (IRS)
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	81.1
State and Local Jurisdiction
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	168.3	170.1
State and Local Jurisdiction \| California and New Jersey Research Tax Credit Carryforward
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	29.0	29.0
Non-US
Operating Loss Carryforwards [Line Items]
Operating loss carryforward	96.1	101.6
Non-US \| Capital Loss Carryforward
Operating Loss Carryforwards [Line Items]
Tax credit carryforward	$ 15.6	17.5
Domestic Tax Authority
Operating Loss Carryforwards [Line Items]
Operating loss carryforward		$ 117.5