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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, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Stock-Based Compensation        
Allocated share-based compensation expense $ 14.3 $ 11.8 $ 27.1 $ 22.3
Research and development        
Stock-Based Compensation        
Allocated share-based compensation expense 6.7 4.4 12.3 8.1
Selling, general and administrative        
Stock-Based Compensation        
Allocated share-based compensation expense $ 7.6 $ 7.4 $ 14.8 $ 14.2