Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Contract with customer, liability	$ 68.2	$ 61.3	$ 20.0
Cash payments received in advance	88.3
Revenue recognized during the period	54.2
Revenue recognized that was included in the deferred income balance	28.0
SmartDose
Disaggregation of Revenue [Line Items]
Contract with customer, liability	3.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 2.1