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Property, Plant and Equipment - Additional Information (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2023
Property Plant And Equipment [Line Items]          
Depreciation expense   $ 41.7 $ 40.5 $ 42.4  
Net amounts written off into other income, net $ 2.3        
ANJESO          
Property Plant And Equipment [Line Items]          
Construction in progress 8.7        
Baudax | Other Long-Term Liabilities          
Property Plant And Equipment [Line Items]          
Contract liabilities $ 6.4        
Forecast          
Property Plant And Equipment [Line Items]          
Construction in progress         $ 44.3
Furniture, Fixtures and Equipment          
Property Plant And Equipment [Line Items]          
Carrying value at the time of disposition   $ 0.5 $ 0.1    
Furniture, Fixtures and Equipment | Maximum          
Property Plant And Equipment [Line Items]          
Carrying value at the time of disposition       $ 0.1