Income Taxes - Schedule of Tax Credits and Operating Loss Carryforwards (Details) - USD ($) $ in Millions |
Dec. 31, 2022 |
Dec. 31, 2021 |
|---|---|---|
| Federal | ||
| Operating Loss Carryforwards [Line Items] | ||
| Net operating loss | $ 28.7 | $ 38.0 |
| Federal | R&D credits | ||
| Operating Loss Carryforwards [Line Items] | ||
| Tax credits | 0.0 | 80.1 |
| Federal | Foreign tax credits | ||
| Operating Loss Carryforwards [Line Items] | ||
| Tax credits | 0.0 | 1.5 |
| State | California | ||
| Operating Loss Carryforwards [Line Items] | ||
| Net operating loss | 185.0 | 236.3 |
| State | California | R&D credits | ||
| Operating Loss Carryforwards [Line Items] | ||
| Tax credits | 96.4 | 81.4 |
| State | Other states | ||
| Operating Loss Carryforwards [Line Items] | ||
| Net operating loss | 8.5 | 21.3 |
| Foreign | UK | ||
| Operating Loss Carryforwards [Line Items] | ||
| Net operating loss | 90.5 | 102.4 |
| Foreign | Other foreign | ||
| Operating Loss Carryforwards [Line Items] | ||
| Net operating loss | $ 9.7 | $ 0.0 |