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Income Taxes - Significant Loss and Tax Credit Carryforwards and Years of Expiration (Details) - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Federal    
Operating Loss Carryforwards [Line Items]    
Net Operating Loss $ 169.1 $ 438.8
Tax Credits 73.1 54.4
State | California    
Operating Loss Carryforwards [Line Items]    
Net Operating Loss 236.3 235.3
Tax Credits 66.2 52.7
State | Other States    
Operating Loss Carryforwards [Line Items]    
Net Operating Loss 36.1 88.8
Foreign | UK    
Operating Loss Carryforwards [Line Items]    
Net Operating Loss $ 113.2 $ 124.1