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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating Loss Carryforwards      
Increase (decrease) of valuation allowance, change in amount $ 1.2 $ 24.8 $ 11.2
Unrecognized tax benefits that would impact effective tax rate 20.6    
Research Tax Credit Carryforward      
Operating Loss Carryforwards      
Tax credit carryforward 8.5 8.5  
Internal Revenue Service (IRS)      
Operating Loss Carryforwards      
Operating loss carryforward 48.0 81.1  
State and Local Jurisdiction      
Operating Loss Carryforwards      
Operating loss carryforward 165.1 168.3  
State and Local Jurisdiction | California and New Jersey Research Tax Credit Carryforward      
Operating Loss Carryforwards      
Tax credit carryforward 29.4 29.0  
Non-US      
Operating Loss Carryforwards      
Operating loss carryforward 95.5 96.1  
Non-US | Capital Loss Carryforward      
Operating Loss Carryforwards      
Tax credit carryforward $ 16.5 $ 15.6