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Summary of Significant Accounting Policies - Property, Plant and Equipment (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jan. 30, 2015
Impairment of Long-Lived Assets        
Impairment of long-lived assets $ 0.0 $ 0.0 $ 0.0  
Minimum        
Property, plant and equipment        
Lease term 1 year      
Maximum        
Property, plant and equipment        
Lease term 10 years      
Machinery and equipment | Minimum        
Property, plant and equipment        
Useful life 3 years      
Machinery and equipment | Maximum        
Property, plant and equipment        
Useful life 10 years      
Beverly Property Owner LLC | Land and buildings | Sale leaseback obligation        
Property, plant and equipment        
Lease term       22 years
Beverly Property Owner LLC | Buildings | Sale leaseback obligation        
Property, plant and equipment        
Lease term       22 years