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Revenue from Contracts with Customers Contract assets and contract liabilities (Details) - USD ($) | Dec. 31, 2019 | Dec. 31, 2018
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Revenue Recognition and Deferred Revenue [Abstract] |  |
Contract with Customer, Asset, Gross, Noncurrent | $ 0 | $ 0

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- Definition Amount, before allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as noncurrent. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=118944033&loc=SL49130531-203044 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 3 -URI http://asc.fasb.org/extlink&oid=118944033&loc=SL49130533-203044 + Details
Name: | us-gaap_ContractWithCustomerAssetGrossNoncurrent
Namespace Prefix: | us-gaap_
Data Type: | xbrli:monetaryItemType
Balance Type: | debit
Period Type: | instant

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- References No definition available. + Details
Name: | us-gaap_RevenueRecognitionAndDeferredRevenueAbstract
Namespace Prefix: | us-gaap_
Data Type: | xbrli:stringItemType
Balance Type: | na
Period Type: | duration