Collaborative and Other Relationships - Summary of Activity Related to the UCB Collaboration (Details) - Research and development - UCB Pharma S.A. - USD ($) $ in Millions	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Collaborative arrangements and non-collaborative arrangement transactions
Expense incurred by the collaboration	$ 68.0	$ 84.2	$ 58.3
Expense reflected within statements of income	$ 34.0	$ 42.1	$ 29.2

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