Restructuring (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Restructuring Cost and Reserve [Line Items]
Restructuring charges	$ 4,900,000	$ 1,500,000	$ 3,500,000
Impairment write-off of long-lived assets			2,300,000
Legal and other restructuring costs			1,200,000
Inventory write-down	6,400,000	800,000	0
Accrued unpaid liabilities, contract termination	$ 1,100,000	$ 0
SG&A Expense
Restructuring Cost and Reserve [Line Items]
Restructuring charges			1,200,000
Contract Termination
Restructuring Cost and Reserve [Line Items]
Inventory write-down			$ 2,400,000