Revenue - Additional Information (Details) contract in Thousands, $ in Billions	3 Months Ended		6 Months Ended
	Jun. 30, 2019 USD ($)	Jul. 01, 2018 USD ($)	Jun. 30, 2019 USD ($) contract	Jul. 01, 2018 USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Number of active contracts | contract			11
Revenue recognized in contract liability balance | $	$ 1.2	$ 1.1	$ 2.9	$ 2.6
Transferred over Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	75.00%	78.00%	75.00%	76.00%
Transferred at Point in Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	25.00%	22.00%	25.00%	24.00%