Summary of Significant Accounting Policies - Intangible Assets (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Finite-Lived Intangible Assets [Line Items]
Product development expenditures as percentage of total revenue	8.00%	8.00%	8.00%
Customer related intangible assets | Minimum
Finite-Lived Intangible Assets [Line Items]
Useful lives	10 years
Customer related intangible assets | Maximum
Finite-Lived Intangible Assets [Line Items]
Useful lives	20 years
Acquired software and technology | Minimum
Finite-Lived Intangible Assets [Line Items]
Useful lives	4 years
Acquired software and technology | Maximum
Finite-Lived Intangible Assets [Line Items]
Useful lives	10 years
Trade names | Minimum
Finite-Lived Intangible Assets [Line Items]
Useful lives	8 years
Trade names | Maximum
Finite-Lived Intangible Assets [Line Items]
Useful lives	20 years
Capitalized software development costs
Finite-Lived Intangible Assets [Line Items]
Useful lives	5 years
Purchased software | Minimum
Finite-Lived Intangible Assets [Line Items]
Useful lives	3 years
Purchased software | Maximum
Finite-Lived Intangible Assets [Line Items]
Useful lives	5 years