Revenue - Remaining Performance Obligations (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Remaining Performance Obligations
Revenue, remaining performance obligation, amount	$ 12.8
Contract with customer, liability, revenue recognized	$ 3.9	$ 3.3
Minimum | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-04-01
Remaining Performance Obligations
Revenue, remaining performance obligation, expected timing of satisfaction, period	12 months
Maximum | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-04-01
Remaining Performance Obligations
Revenue, remaining performance obligation, expected timing of satisfaction, period	24 months