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Stock-Based Compensation Expense (Tables) | 9 Months Ended
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Sep. 30, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Share-Based Compensation Expense | Compensation expense related to stock-based awards was recorded as follows:
| Three Months Ended September 30, |  | Nine Months Ended September 30,
(in millions) | 2023 |  | 2022 |  | 2023 |  | 2022
Cost of revenue | $ | 0.1 |  |  | $ | 0.1 |  |  | $ | 0.3 |  |  | $ | 0.3 |
Research and development expenses | 3.5 |  |  | 2.1 |  |  | 9.6 |  |  | 6.3 |
Selling, general and administrative expenses | 6.9 |  |  | 6.8 |  |  | 25.8 |  |  | 23.1 |
Total | $ | 10.5 |  |  | $ | 9.0 |  |  | $ | 35.7 |  |  | $ | 29.7 |

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