Revenue - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Revenue from Contract with Customer [Abstract]
Remaining Performance Obligations	$ 152,900,000
Contract cost net of accumulated amortization	4,300,000	$ 9,200,000
Capitalized cost, impairment	$ 0	$ 0	$ 0