Income Per Share - Additional Information (Details) - shares shares in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive shares excluded from diluted weighted average shares outstanding (in shares)	1.2	0.9	0.5
Anti-dilutive shares excluded form diluted weighted average shares outstanding due to performance conditions not met (in shares)	0.3	0.3	0.2
Convertible Preferred Stock
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive shares excluded from diluted weighted average shares outstanding (in shares)	3.7	6.9	6.9