Revenue - Contracts and Liabilities, Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Dec. 31, 2022	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 21.3
Deferred income	57.5	$ 68.2
Smart Dose
Disaggregation of Revenue [Line Items]
Deferred income	2.8		$ 20.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 1.9