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Stock-Based Compensation - Restricted Stock and Restricted Stock Units (Details) - Stock options and RSUs - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Stock-Based Compensation        
Allocated share-based compensation expense $ 11.8 $ 9.5 $ 22.3 $ 18.5
Research and development        
Stock-Based Compensation        
Allocated share-based compensation expense 4.4 3.0 8.1 5.8
Selling, general and administrative        
Stock-Based Compensation        
Allocated share-based compensation expense $ 7.4 $ 6.5 $ 14.2 $ 12.7