Revenues - Additional Information (Details) - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019	Dec. 31, 2019
Disaggregation Of Revenue [Line Items]
Contract assets					$ 0
Contract liabilities	$ 29,000,000		$ 29,000,000		$ 36,000,000
Contract liability, revenue recognized	$ 10,800,000	$ 8,400,000	$ 21,500,000	$ 16,100,000
Customer Concentration Risk \| Revenues \| Maximum \| Outside of United States
Disaggregation Of Revenue [Line Items]
Revenue	1.00%	1.00%	5.00%	2.00%

For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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