Long-Lived Assets (Details Textual) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Finite Lived Intangible Assets [Line Items]
Total amortization expense	$ 5.6	$ 6.3
Estimated total amortization expense 2021	20.5
Estimated total amortization expense 2022	14.7
Estimated total amortization expense 2023	10.8
Estimated total amortization expense 2024	7.4
Estimated total amortization expense 2025	6.5
Customer contract costs
Finite Lived Intangible Assets [Line Items]
Total amortization expense	$ 4.7	$ 4.0