Income Taxes - Reconciliation of the U.S. Federal Statutory Income Tax Rate to the Company's Effective Income Tax Rate for Continuing Operations (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Effective Income Tax Rate Continuing Operations Tax Rate Reconciliation [Abstract]
U.S. federal income tax at statutory rate (as a percent)	21.00%	21.00%	35.00%
U.S. state income tax provision (as a percent)	(0.20%)	4.30%	16.30%
Manufacturing & research incentives (as a percent)	(5.20%)	2.40%	7.90%
Taxes on non-U.S. income which differ from the U.S. statutory rate (as a percent)	(4.40%)	(3.20%)	41.50%
Adjustments for unrecognized tax benefits (as a percent)	(2.20%)	9.60%	0.50%
Adjustments for valuation allowances (as a percent)	7.60%	(1.80%)	287.70%
U.S. Tax Reform (as a percent)	6.90%	2.50%	(228.30%)
Goodwill impairment (as a percent)		(24.60%)
Other items (as a percent)	(2.50%)	(3.60%)	(35.40%)
Effective income tax rate (as a percent)	21.00%	6.60%	125.20%