Revenue - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Contract with customer, liability	$ 53.9	$ 68.2	$ 20.0
Revenue recognized during the period	47.2
Revenue recognized that was included in the deferred income balance	37.4
Cash payments received in advance	72.6
SmartDose
Disaggregation of Revenue [Line Items]
Contract with customer, liability	2.2
Deferred income, current	0.9
Deferred income, noncurrent	$ 1.3