Income Taxes - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Contingency [Line Items]
Accrued liabilities for interest and penalties	$ 3.8	$ 1.6
Total gross unrecognized tax benefits	38.8	36.5	$ 24.9	$ 10.4
Estimated increase (decrease) in the liability for unrecognized tax benefits	0.1
Tax expense (benefit) from impact of tax law changes enacted		5.7	(1.4)
Tax expense from recognition of reserves for unrecognized tax benefits	19.8
Tax benefit from stock-based compensation	32.0	16.5	$ 31.5
Tax benefit from recent court case	3.0
Tax benefit from termination of pension plans	20.6
Deferred tax benefit	8.0
Tax benefit from prepayment of future royalties		18.5
Operating loss carryforwards, state and local	6.7
Operating loss carryforwards, foreign	3.3				$ 1.3
Tax on undistributed earnings of subsidiaries	3.8	$ 1.5
Undistributed earnings of foreign subsidiaries	857.0
Germany
Income Tax Contingency [Line Items]
Tax on undistributed earnings of subsidiaries	2.8
State and Local Jurisdiction
Income Tax Contingency [Line Items]
Operating loss carryforwards	118.6
State and Local Jurisdiction | Research Tax Credit Carryforward
Income Tax Contingency [Line Items]
Tax credit carryforward	0.4				$ 1.6
State and Local Jurisdiction | Year 2024
Income Tax Contingency [Line Items]
Operating loss carryforwards, subject to expiration	19.8
State and Local Jurisdiction | Year 2025
Income Tax Contingency [Line Items]
Operating loss carryforwards, subject to expiration	98.8
Foreign Tax Authority
Income Tax Contingency [Line Items]
Operating loss carryforwards	10.2
Operating loss carryforwards, not subject to expiration	$ 0.9