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Shareholders' Equity - Expense (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation $ 3.6 $ 2.8 $ 7.0 $ 5.8
Additional information        
Expected pre-tax stock-based compensation expense 20.3   $ 20.3  
Weighted average remaining service period     2 years 1 month 6 days  
Cost of revenues        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation 0.5 0.4 $ 1.0 0.9
Selling, general and administrative        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation 2.6 2.0 5.0 4.0
Research and development        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation 0.5 0.4 1.0 0.9
Mestrelab        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Stock-based compensation $ 0.4 $ 0.3 $ 0.8 $ 0.6