Stock-Based Compensation - Summary of Allocation of Employee Stock-Based Compensation (Details) - Stock options and RSUs - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 57.7	$ 46.0	$ 36.2
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	26.4	17.8	11.8
Selling, general and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense	$ 31.3	$ 28.2	$ 24.4