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Restructuring (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Restructuring Cost and Reserve [Line Items]        
Restructuring charges $ 0.0 $ 3.6 $ 0.0 $ 3.6
Research and development expenses        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   1.2   1.2
General and administrative expense        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   $ 2.4   $ 2.4