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Commitments and Contingencies - Strategic Collaborations (Details) - PCV Agreement - USD ($) $ in Millions | Dec. 31, 2020 | Dec. 31, 2019 | Apr. 30, 2018 | Jun. 30, 2017
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Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Budgeted amount |  |  |  | $ 250.0
PCV products |  |  |  |
Research and Development Arrangement, Contract to Perform for Others [Line Items] |  |  |  |
Budgeted amount | $ 243.0 | $ 243.0 | $ 243.0 |

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