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Stock-Based Compensation (Tables)
6 Months Ended
Jun. 30, 2021
Share-based Payment Arrangement [Abstract]  
Summary of Allocation of Employee Stock-Based Compensation The following table summarizes the aggregate stock-based compensation expense recorded in the consolidated statements of comprehensive loss related to stock options and RSUs during the three and six months ended June 30, 2021 and 2020, respectively (in millions): 
 Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
Research and development$4.4 $3.0 $8.1 $5.8 
Selling, general and administrative7.4 6.5 14.2 12.7 
Total$11.8 $9.5 $22.3 $18.5