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Income Taxes - Schedule of Tax Credits and Operating Loss Carryforwards (Details) - USD ($) $ in Millions | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Federal |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | $ 28.7 | $ 38.0
Federal | R&D credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 0.0 | 80.1
Federal | Foreign tax credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 0.0 | 1.5
State | California |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | 185.0 | 236.3
State | California | R&D credits |  |
Operating Loss Carryforwards [Line Items] |  |
Tax credits | 96.4 | 81.4
State | Other states |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | 8.5 | 21.3
Foreign | UK |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | 90.5 | 102.4
Foreign | Other foreign |  |
Operating Loss Carryforwards [Line Items] |  |
Net operating loss | $ 9.7 | $ 0.0

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