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Stock-Based Compensation (Tables)
3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of Allocation of Employee Stock-Based Compensation The following table summarizes the aggregate stock-based compensation expense recorded in the consolidated statements of comprehensive loss related to stock options, RSUs and the ESPP during the three months ended March 31, 2023 and 2022, respectively (in millions): 
 Three Months Ended March 31,
 20232022
Research and development$7.9 $5.6 
Selling, general and administrative8.5 7.2 
Total$16.4 $12.8