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Income Taxes - Significant Loss and Tax Credit Carryforwards and Years of Expiration (Details) - USD ($) $ in Millions | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | ---
Federal |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | $ 38.0 | $ 169.1
Federal | R&D credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 80.1 | 73.1
Federal | Foreign tax credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 1.5 | 0.0
State | California |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | 236.3 | 236.3
State | California | R&D credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 81.4 | 66.2
State | Other states |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | 21.3 | 36.1
Foreign | UK |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | $ 102.4 | $ 113.2

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