Income Taxes - Expiry Dates of Federal and State Income Tax Credit Carryforwards (Details) $ in Millions	Dec. 31, 2022 USD ($)
U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 46.6
California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	29.0
U.S. foreign tax credit | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	2.0
U.S. research tax credit | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	8.4
U.S. business tax credits | U.S. Federal
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	36.2
State investment tax credits | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	2.3
State research tax credits - definite lived | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	1.4
State research tax credits - indefinite lived | California (U.S.)
Tax Credit Carryforward [Line Items]
Tax credit carryforwards	$ 25.3