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Revenue - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Revenue from Contract with Customer [Abstract]      
Revenue, performance obligation satisfied over time, percentage (less than) 2.00% 2.00%  
Contract assets $ 1.3 $ 2.1 $ 4.6
Contract assets reclassified to receivable 2.0    
Contract liabilities $ 0.5 $ 1.1 $ 0.9