Property, Plant and Equipment, Net - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Impairment Of Intangible Asset Indefinite Lived Excluding Goodwill Statement Of Income Or Comprehensive Income Extensible Enumeration Not Disclosed Flag	disposed assets	disposed assets
Depreciation	$ 93.7	$ 86.2	$ 86.8
In-process research and development
Property, Plant and Equipment [Line Items]
Impairment of intangible assets, indefinite-lived	$ 0.0	$ 4.6	$ 0.9