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Income Taxes - Reconciliation between Effective Tax Rate and Statutory Rate (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Income taxes at statutory rates	$ 21.9	$ (26.6)	$ (17.0)
State income tax, net of federal benefit	(2.3)	(5.5)	(0.7)
Permanent items	1.0	1.3	0.7
Research and development credits	(10.8)	(11.7)	(13.3)
Foreign rate differential	5.6	3.7	5.4
Stock and officers compensation	(14.7)	(5.1)	(10.4)
Rate change	0.0	0.0	(0.1)
Unrecognized tax benefits	0.0	0.0	(15.4)
Impact of adoption of ASU 2016-16	0.0	(13.3)	0.0
Impact of Tax Cuts and Jobs Act of 2017	0.0	(0.4)	105.7
Other	(1.0)	1.3	(2.2)
Change in valuation allowance	3.4	56.9	(51.1)
Income taxes at effective rates	$ 3.1	$ 0.6	$ 1.6

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