Revenue - Contracts and Liabilities, Narrative (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 30.0
Deferred income	38.1	$ 57.1
SmartDose
Disaggregation of Revenue [Line Items]
Deferred income	4.1		$ 20.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 3.2
Minimum
Disaggregation of Revenue [Line Items]
Contract with customer liability recognized	1 year
Maximum
Disaggregation of Revenue [Line Items]
Contract with customer liability recognized	2 years