Guarantees - Narrative (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Product Warranty Liability [Line Items]
Deferred revenue includes buybacks and extended warranties in accounts payable and accrued expenses and non-current liabilities	$ 38.0	$ 34.4
Amount of residual value guarantees and buyback commitments given by the company	$ 28.5	30.9
Standard product warranty, low end of range (in months)	12 months
Standard product warranty, high end of range (in months)	60 months
Other Noncurrent Liabilities
Product Warranty Liability [Line Items]
long-term warranty	$ 13.4	$ 8.7