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Debt and Credit Arrangements - 2018 Notes (Details) - Convertible Notes, Due 2018 - Convertible Debt - USD ($) | 9 Months Ended |  |
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Sep. 30, 2018 | Sep. 30, 2019 | Aug. 01, 2018
Debt Instrument |  |  |
Debt instrument stated interest rate (percent) |  |  | 2.00%
Debt instrument face amount |  |  | $ 57,100,000
Repayment of debt | $ 57,100,000 |  |
Interest paid | $ 600,000 |  |
Percentage of expired warrants (percent) |  | 90.00% |

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