Revenue Recognition, Contracts with Customers - Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Revenue from Contract with Customer [Abstract]
Revenue recognized from performance obligations satisfied In previous periods	$ 1,600,000	$ 2,200,000	$ 3,800,000	$ 4,000,000.0
Revenue recognized that was included in contract liability	2,800,000	$ 2,900,000	8,100,000	$ 4,600,000
Contract assets	$ 100,000		$ 100,000		$ 0