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Income Taxes - Narrative (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2017
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Operating Loss Carryforwards          
Provisional net charge due to new tax regulations $ 11,800,000     $ 11,800,000  
Additional charge to revalue deferred tax assets     $ 700,000    
Operating loss carryforwards, domestic   $ 6,000,000.0      
Operating loss carryforwards, state and local   549,700,000      
Operating loss carryforwards, foreign   304,800,000      
Tax credit carryforwards   32,000,000.0      
Carryforwards expiring in 2019   41,100,000      
Tax credit carryforwards expiring between 2019 and 2036   539,100,000      
Increase (decrease) in valuation allowance   (4,300,000) 21,600,000    
Undistributed earnings of foreign subsidiaries   98,000,000.0      
Unrecognized tax benefit 31,300,000 17,200,000 20,300,000 31,300,000 $ 37,900,000
Net unrecognized tax benefits 20,600,000 13,900,000 13,800,000 20,600,000  
Unrecognized tax benefits that would impact the effective tax rate if recognized   9,900,000      
Gross accrued interest 3,900,000 4,100,000 3,800,000 3,900,000  
Net accrued interest 2,500,000 3,200,000 2,900,000 2,500,000  
Gross interest income included in income tax (provision) benefit   (500,000) 100,000 (200,000)  
Penalties excluded $ 0 0 0 0  
Excess tax benefits from stock-based compensation awards vested during the year   1,900,000 2,200,000    
Tax benefit from prior period adjustments   1,900,000 33,000,000.0 77,600,000  
Tax benefit related to various audit settlements, statute expirations, and other adjustments   1,200,000 $ 7,000,000.0 4,900,000  
Tax credit   1,300,000      
Expense related to valuation allowance adjustments   3,800,000      
Minimum          
Operating Loss Carryforwards          
Reasonably possible amount that unrecognized tax benefits could decrease within next 12 months, low end of range   5,000,000.0      
Maximum          
Operating Loss Carryforwards          
Reasonably possible amount that unrecognized tax benefits could decrease within next 12 months, low end of range   $ 10,000,000.0      
Foreign Jurisdictions          
Operating Loss Carryforwards          
Foreign losses generated for which no tax benefit was recognized       $ 68,200,000