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Commitments and Contingencies - Performance-Contingent Awards (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2016
Commitments and Contingencies        
Guarantees and Indemnifications Liability $ 0.0 $ 0.0    
Long-Term Retention and Incentive Cash Bonus Awards | Employee        
Commitments and Contingencies        
Service-based vesting period       5 years
Long-Term Retention and Incentive Cash Bonus Awards | First tranche        
Commitments and Contingencies        
Cash bonus awards recognized     $ 3.5  
Long-Term Retention and Incentive Cash Bonus Awards | Second tranche        
Commitments and Contingencies        
Cash bonus awards recognized 0.5 2.4 $ 1.9  
Long-Term Retention and Incentive Cash Bonus Awards | Third tranche        
Commitments and Contingencies        
Cash bonus awards recognized 2.8 $ 11.8    
Maximum potential of compensation expenses 0.4      
Long-Term Retention and Incentive Cash Bonus Awards | Third tranche | Research and development        
Commitments and Contingencies        
Maximum potential of compensation expenses 0.3      
Long-Term Retention and Incentive Cash Bonus Awards | Third tranche | Selling, general and administrative        
Commitments and Contingencies        
Maximum potential of compensation expenses $ 0.1