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Goodwill and Intangible Assets - Narrative (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Finite-Lived Intangible Assets [Line Items] |  |  |
Goodwill impairment |  | $ 3.3 |
Goodwill and intangible asset impairment | $ 1.6 | 6.8 | $ 13.1
Amortization of acquisition-related intangible assets | 115.2 | 111.7 | 123.8
Intangible assets, net | 590.5 | 566.4 |
Xsens Holding B.V. | Disposal Group, Not Discontinued Operations |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Intangible assets disposed of as part of sale transaction |  |  | 8.7
IPRD |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
IPRD projects reclassified to developed technology | 23.2 | 10.4 | 99.4
Intangible assets, net | 40.6 | 41.6 |
IPRD | ISG |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Goodwill and intangible asset impairment | $ 1.6 | $ 3.5 |
IPRD | PSG and ASG |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Goodwill and intangible asset impairment |  |  | $ 13.1

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- Definition Amount classified as intangible assets, excluding goodwill, attributable to disposal group held for sale or disposed of, expected to be disposed of within one year or the normal operating cycle, if longer. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 205 -SubTopic 20 -Section 45 -Paragraph 10 -URI http://asc.fasb.org/extlink&oid=109222160&loc=d3e1107-107759 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 360 -SubTopic 10 -Section 50 -Paragraph 3 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=109226691&loc=d3e2941-110230 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 205 -SubTopic 20 -Section 50 -Paragraph 5B -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=109222650&loc=SL51721673-107760 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 360 -SubTopic 10 -Section 45 -Paragraph 9 -URI http://asc.fasb.org/extlink&oid=109226348&loc=d3e2473-110228 Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 205 -SubTopic 20 -Section 45 -Paragraph 11 -URI http://asc.fasb.org/extlink&oid=109222160&loc=SL51721533-107759 + Details
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