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Stock-Based Compensation Expense
 9 Months Ended
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]  
Stock-Based Compensation Expense Stock-Based Compensation Expense
Compensation expense related to stock-based awards was recorded as follows:
Three Months Ended September 30,Nine Months Ended September 30,
(in millions)2022202120222021
Cost of revenue$0.1 $0.1 $0.3 $0.3 
Research and development expenses2.1 1.9 6.3 5.8 
Selling, general and administrative expenses6.8 6.2 23.1 19.7 
Total$9.0 $8.2 $29.7 $25.8