Revenue - Narrative (Details) - USD ($) $ in Millions	6 Months Ended
	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 27.4
Deferred income	56.7	$ 68.2
SmartDose
Disaggregation of Revenue [Line Items]
Deferred income	2.6		$ 20.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 1.7