Restructuring - Narrative (Details) - USD ($)	3 Months Ended				12 Months Ended
	Dec. 31, 2019	Sep. 30, 2019	Dec. 31, 2017	Mar. 31, 2017	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Restructuring Cost and Reserve [Line Items]
Pre-tax restructuring expenses related to restructuring initiative			$ 3,700,000	$ 4,800,000	$ 21,044,000	$ 12,083,000	$ 8,455,000
Impairment of definite-lived assets		$ 7,100,000
Asset impairments					10,155,000	0	0
Restructuring accrual	$ 6,110,000		$ 4,180,000		$ 6,110,000	$ 6,170,000	$ 4,180,000
HST
Restructuring Cost and Reserve [Line Items]
Asset impairment charges		9,700,000
Operating lease, impairment	$ 400,000	600,000
HST | Property, plant and equipment
Restructuring Cost and Reserve [Line Items]
Asset impairments		2,000,000.0
HST | Customer relationships
Restructuring Cost and Reserve [Line Items]
Impairment of definite-lived assets		6,100,000
HST | Unpatented technology
Restructuring Cost and Reserve [Line Items]
Impairment of definite-lived assets		$ 1,000,000.0