Revenue - Contracts and Liabilities, Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2022	Dec. 31, 2021	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 9.7
Deferred income	56.8	$ 61.3
Smart Dose
Disaggregation of Revenue [Line Items]
Deferred income	3.7		$ 20.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 2.8