Revenue - Narrative (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2024	Dec. 31, 2023	Jun. 30, 2013
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the deferred income balance	$ 15.5
Deferred income	57.9	$ 53.9
Smart Dose
Disaggregation of Revenue [Line Items]
Deferred income	1.9		$ 20.0
Deferred income, current	0.9
Deferred income, noncurrent	$ 1.0