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Employee Benefit Plans - Actuarial Assumptions to Determind Funded Status (Details)
Dec. 31, 2019
Dec. 31, 2018
United States    
Summary of weighted-average actuarial assumptions used in determining funded status    
Discount rate (as a percent) 3.30% 4.35%
Rate of increase in compensation levels (as a percent) 3.00% 3.00%
Foreign Plan    
Summary of weighted-average actuarial assumptions used in determining funded status    
Discount rate (as a percent) 2.30% 3.04%
Rate of increase in compensation levels (as a percent) 3.11% 3.08%