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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Income Taxes [Line Items]        
Effective income tax rate (benefit) (as a percent) (33.80%) 22.70% 16.60%  
Deferred tax assets, valuation allowance $ 249.9 $ 357.9    
Balance of unrecognized tax benefit 151.0 130.0 $ 112.2 $ 114.8
Unrecognized tax position, that would affect the annual effective tax rate 116.0      
Unrecognized Tax Benefits that would impact Deferred Taxes 35.0      
Estimate of decrease in unrecognized tax positions 48.8      
Interest and penalties tax expense 0.2      
Accrued interest and penalties 5.3 5.1 $ 5.1  
Federal        
Income Taxes [Line Items]        
Net operating loss carryforwards 99.0 521.9    
Tax credit carryforwards 153.4 134.5    
State        
Income Taxes [Line Items]        
Net operating loss carryforwards 741.3 825.8    
Tax credit carryforwards 141.1 138.6    
Deferred tax assets, valuation allowance 72.5      
Foreign        
Income Taxes [Line Items]        
Net operating loss carryforwards 581.6 757.1    
Tax credit carryforwards 69.4 $ 76.8    
National Tax Agency, Japan        
Income Taxes [Line Items]        
Valuation allowance $ 128.5