Revenue (Additional Information) (Details) contract in Thousands, $ in Billions	12 Months Ended
	Dec. 31, 2020 USD ($) contract	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Number of active contracts | contract	10
Revenue recognized in contract liability | $	$ 3.8	$ 4.5	$ 4.3
Transferred over Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	77.00%	73.00%	74.00%
Transferred at Point in Time
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Revenue, percentage from products and services transferred to customers	23.00%	27.00%	26.00%