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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