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Income Taxes - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Operating Loss Carryforwards [Line Items] |  |  |
Valuation allowance, change in amount | $ (21.5) | $ (11.4) | $ 116.5
Unrecognized tax benefits that would impact effective tax rate | 27.3 |  |
Increase to current federal income tax expense due to Tax Cuts and Jobs Act | 4.7 |  |
Research Tax Credit Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax credit carryforward | 8.5 | 9.3 |
Internal Revenue Service (IRS) |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforward | 81.1 |  |
State and Local Jurisdiction |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforward | 168.3 | 170.1 |
State and Local Jurisdiction | California and New Jersey Research Tax Credit Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax credit carryforward | 29.0 | 29.0 |
Non-US |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforward | 96.1 | 101.6 |
Non-US | Capital Loss Carryforward |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Tax credit carryforward | $ 15.6 | 17.5 |
Domestic Tax Authority |  |  |
Operating Loss Carryforwards [Line Items] |  |  |
Operating loss carryforward |  | $ 117.5 |

X
- Definition Amount of reported income tax expense (benefit) in excess of (less than) expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operations, attributable to Tax Cuts and Jobs Act. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 12 -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319 + Details
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- Definition Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 740 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32559-109319 + Details
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