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Revenue - Impact of ASU Adoption (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Impact of ASU adoption    
Practical expedient, incremental costs of obtaining a contract true  
ASC 606    
Impact of ASU adoption    
Impact of adoption on retained earnings, net of tax   $ 6.1
Impact of the adoption on retained earnings, amount related to taxes   $ 2.1