Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Stock-Based Compensation
Total stock-based compensation	$ 11.3	$ 11.0	$ 9.4
Estimated forfeiture rate (as a percent)	7.50%	6.70%	6.20%
Costs of product revenue
Stock-Based Compensation
Total stock-based compensation	$ 1.7	$ 1.7	$ 1.4
Selling, general and administrative
Stock-Based Compensation
Total stock-based compensation	7.9	7.6	6.6
Research and development
Stock-Based Compensation
Total stock-based compensation	1.7	1.7	1.4
Stock options
Stock-Based Compensation
Total stock-based compensation	$ 4.2	$ 6.2	$ 7.5
Risk-free interest rates, minimum (as a percent)	2.80%	1.78%	1.23%
Risk-free interest rates, maximum (as a percent)		2.09%	2.21%
Expected life	5 years 4 months 17 days	5 years 6 months 22 days
Volatility (as a percent)	28.46%
Volatility, minimum (as a percent)		30.78%	33.57%
Volatility, maximum (as a percent)		34.13%	41.60%
Expected dividend yield (as a percent)	0.47%
Stock options \| Minimum
Stock-Based Compensation
Vesting period	3 years
Expected life			5 years 9 months
Expected dividend yield (as a percent)		0.55%	0.00%
Stock options \| Maximum
Stock-Based Compensation
Vesting period	4 years
Expected life			7 years 7 days
Expected dividend yield (as a percent)		0.74%	0.78%
Restricted stock awards
Stock-Based Compensation
Total stock-based compensation	$ 0.8	$ 1.4	$ 1.6
Restricted stock units
Stock-Based Compensation
Total stock-based compensation	$ 6.3	$ 3.4	$ 0.3

Represents the estimated forfeiture rate used for calculating stock-based compensation.

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Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 1
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5047-113901

Reference 3: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901

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Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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- Definition

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

+ References

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The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

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The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

No definition available.

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The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

+ References

No definition available.

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The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

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No definition available.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Expected term of share-based compensation awards, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (f)(2)(i)
-URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.D.2)
-URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809

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