Collaborative and Other Relationships - Acorda (Details) - Acorda - USD ($) $ in Millions	3 Months Ended	12 Months Ended
Sep. 30, 2020	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Collaborative arrangements and non-collaborative arrangement transactions
Expected additional milestone payments when certain sales threshold is met	$ 15.0
Foreign sales required to trigger milestone	$ 100.0
Expense reflected within statements of income		$ 46.1	$ 46.6	$ 44.5

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