Income Taxes - Reconciliation of the Difference between the Actual Provisions for Income Taxes (Details)	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Effective Income Tax Rate Reconciliation, Percent [Abstract]
Statutory federal income tax rate	21.00%	21.00%	35.00%
State income taxes, net of federal benefit	2.70%	1.60%	1.60%
Valuation allowances for deferred tax assets, including state	(4.40%)	(1.30%)	0.10%
Research and development credits	0.70%	(1.30%)	(1.00%)
Capitalized transaction costs	0.00%	0.60%	0.00%
Domestic production activities deduction	0.00%	0.00%	(1.80%)
Stock based compensation	(0.10%)	(0.70%)	(4.40%)
Goodwill Impairment	(19.60%)	0.00%	0.00%
Foreign income taxed at lower rates	2.40%	(1.60%)	(2.80%)
Reserves for uncertain tax positions	0.30%	0.00%	(1.70%)
Repatriation of foreign undistributed earnings	0.00%	1.60%	1.30%
Revaluation of deferred tax liabilities due to federal rate change	0.00%	0.00%	(7.30%)
Pension plan settlement	5.90%	0.00%	0.00%
Other	(0.60%)	(0.40%)	0.50%
Effective income tax rate	8.30%	19.50%	19.50%

Effective Income Tax Rate Reconciliation, Nondeductible Expense, Capitalized Transaction Costs

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Effective Income Tax Rate Reconciliation, Nondeductible Expense, Litigation Settlement, Percent

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Effective Income Tax Rate Reconciliation, Reserves for Uncertain Tax Positions, Percent

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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