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Revenues - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019 | Dec. 31, 2019
Disaggregation Of Revenue [Line Items] |  |  |  |  |
Contract assets |  |  |  |  | $ 0
Contract liabilities | $ 29,000,000 |  | $ 29,000,000 |  | $ 36,000,000
Contract liability, revenue recognized | $ 10,800,000 | $ 8,400,000 | $ 21,500,000 | $ 16,100,000 |
Customer Concentration Risk | Revenues | Maximum | Outside of United States |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |
Revenue | 1.00% | 1.00% | 5.00% | 2.00% |

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