Income Taxes - Reconciliation of Statutory to Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Federal statutory rate	21.00%	21.00%	35.00%
State taxes, net of federal benefit	4.30%	4.50%	3.30%
Effect of foreign operations	0.20%	1.50%	1.90%
Foreign toll charge - U.S. tax reform	0	0	0.041
Stock compensation	(1.00%)	2.00%	1.90%
Non-deductible acquisition costs	0.20%	0.20%	0.00%
Research and development tax credit	(1.80%)	(5.00%)	(1.00%)
U.S. domestic production deduction	(0.10%)	(0.10%)	(1.60%)
Adjustment to deferred tax rate - U.S. tax reform	0.00%	0.00%	(12.30%)
Other	(0.20%)	0.00%	0.20%
Effective tax rate	22.60%	24.10%	31.50%