Revenues - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Jan. 01, 2018
Principal Transaction Revenue [Line Items]
Contract assets	$ 32,800,000	$ 12,600,000
Contract liabilities	162,300,000	184,800,000
Deferred contract costs	53,800,000		$ 45,500,000
Amortization of deferred contract costs	41,200,000	$ 42,000,000.0
Impairment loss of deferred contract costs	0
Prepaid expenses and other
Principal Transaction Revenue [Line Items]
Contract assets	20,800,000		8,300,000
Deferred contract costs	34,900,000		30,400,000
Other assets
Principal Transaction Revenue [Line Items]
Contract assets	12,000,000.0		4,300,000
Deferred contract costs	18,900,000		15,100,000
Advance payments and customer deposits
Principal Transaction Revenue [Line Items]
Contract liabilities	148,000,000.0		172,100,000
Other liabilities
Principal Transaction Revenue [Line Items]
Contract liabilities	$ 9,900,000		$ 12,700,000
Minimum
Principal Transaction Revenue [Line Items]
Estimated useful life of contract costs	18 years
Maximum
Principal Transaction Revenue [Line Items]
Estimated useful life of contract costs	36 years