Basis of Presentation and Summary of Significant Accounting Policies - Property, Plant and Equipment (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Property, Plant and Equipment [Line Items]
Depreciation expense, including amortization of capital leases	$ 25,200,000	$ 22,900,000	$ 21,400,000
Interest capitalized	$ 0	$ 0	$ 0
Buildings | Maximum
Property, Plant and Equipment [Line Items]
Useful lives of property, plant and equipment (in years)	40 years
Machinery and equipment | Maximum
Property, Plant and Equipment [Line Items]
Useful lives of property, plant and equipment (in years)	15 years
Machinery and equipment | Minimum
Property, Plant and Equipment [Line Items]
Useful lives of property, plant and equipment (in years)	3 years