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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended | 104 Months Ended
--- | --- | --- | --- | ---
Jan. 16, 2020 | Jan. 02, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2019
Subsequent Event [Line Items] |  |  |  |  |  |
Cash dividends paid per share of common stock (in dollars per share) |  |  | $ 0.87 | $ 0.77 | $ 0.64 |
Options Granted (in shares) |  |  |  |  |  | 13,021,758
Options vesting and exercisable period, maximum |  |  | 8 years |  |  |
Options termination period |  |  | 9 years |  |  |
Total intrinsic value of stock options exercised |  |  | $ 20.2 | $ 4.2 | $ 6.9 |
Total unrecognized stock-based compensation expense |  |  | $ 13.1 |  |  | $ 13.1
Weighted average period over which total unrecognized stock-based compensation expense will be recognized |  |  | 3 years 9 months 25 days |  |  |
Total grant date fair value of stock options vested |  |  | $ 5.9 | 5.3 | 4.2 |
Total stock-based compensation expense |  |  | $ 5.7 | $ 5.1 | $ 5.2 |
Subsequent Event |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |
Dividend declared (in dollars per share) | $ 0.25 |  |  |  |  |
Options Granted (in shares) |  | 877,299 |  |  |  |
Option Exercise (Strike) Price (in dollars per share) |  | $ 38.00 |  |  |  |
Closing Stock Price on Date of Grant (in dollars per share) |  | $ 37.23 |  |  |  |
Non-employee Director Options Elected (in shares) |  | 24,964 |  |  |  |
Non-employee Director Option Exercise (Strike) Price (in dollars per share) |  | $ 38.00 |  |  |  |

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