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Shareholders' Equity - Expense (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation $ 3.4 $ 3.0
Additional information    
Expected pre-tax stock-based compensation expense $ 23.4  
Weighted average remaining service period 2 years 3 months 18 days  
Cost of revenues    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation $ 0.5 0.5
Selling, general and administrative    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 2.4 2.0
Research and development    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation 0.5 0.5
Mestrelab    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Stock-based compensation $ 0.4 $ 0.3