Income Taxes - Effective income tax rate reconciliation (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 21, 2017
Income Tax Disclosure [Abstract]
Statutory U.S. federal income tax rate	21.00%	21.00%	35.00%	35.00%
State and local taxes, net of federal income tax benefit	3.20%	3.40%	2.10%
Foreign withholding tax	1.80%	0.30%	0.00%
Foreign derived intangible income	(0.80%)	(1.90%)	0.00%
Foreign operations tax effect	0.00%	0.30%	(2.80%)
Research and experimentation tax credits	(1.20%)	(0.60%)	(0.70%)
Foreign tax credit	(8.00%)	(1.50%)	0.00%
Domestic manufacturing deduction	0.00%	0.00%	(4.40%)
Nondeductible expenses	2.50%	0.70%	0.70%
ESOP dividends	0.00%	(0.10%)	(0.20%)
Branch income	0.60%	0.00%	1.10%
Tax return to accrual adjustments	(9.40%)	0.00%	0.00%
State deferred taxes	(7.90%)	0.00%	0.00%
Changes due to the Tax Reform Act	0.00%	0.00%	(54.30%)
Global intangible low-taxed income	0.00%	2.30%	0.00%
Change in valuation allowance	9.00%	0.00%	0.00%
Other	(0.30%)	(0.70%)	(1.60%)
Effective income tax rate	10.50%	23.20%	(25.10%)