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Income Taxes - Additional Information (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]        
Research credit carryforwards $ 217.1 $ 268.9    
Unrecognized tax benefits 149.8 127.2 $ 107.3 $ 91.4
Unrecognized tax benefits that would impact effective tax rate 106.0      
Unrecognized tax benefit that would result in adjustment to deferred tax assets 43.8      
Penalties and interest accrued 6.7      
Penalties and interest expense 1.3 $ 1.7 $ 0.4  
State Enterprise Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforward 3.1      
Domestic Tax Authority        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 10.7      
Operating loss carryforwards, subject to expiration 5.7      
Operating loss carryforwards, not subject to expiration 5.0      
Research credit carryforwards 203.0      
Domestic Tax Authority | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Unrecognized tax benefits 89.3      
State and Local Jurisdiction        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 41.1      
Research credit carryforwards 171.0      
State and Local Jurisdiction | Research Tax Credit Carryforward        
Operating Loss Carryforwards [Line Items]        
Unrecognized tax benefits 44.8      
Foreign Tax Authority        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards 25.0      
Tax credit carryforward $ 0.5