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Income Taxes - NOL and Tax credit carryforwards (Details) - USD ($)
$ in Millions
Dec. 31, 2019
Dec. 31, 2018
State    
NOL and Tax credit carryfowards    
Net operating loss carryforwards $ 141.3 $ 158.9
State | Research Tax Credit Carryforward    
NOL and Tax credit carryfowards    
Tax credit carryforwards 8.2 10.3
Foreign    
NOL and Tax credit carryfowards    
Tax credit carryforwards 55.0 59.4
Domestic | General Business Tax Credit Carryforward    
NOL and Tax credit carryfowards    
Tax credit carryforwards $ 16.9 $ 14.3