Revenue - Narrative (Details) - USD ($) $ in Millions	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 33.2
Deferred income	50.0	$ 68.2	$ 20.0
SmartDose
Disaggregation of Revenue [Line Items]
Deferred income	2.4
Deferred income, current	0.9
Deferred income, noncurrent	$ 1.5