Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($)	3 Months Ended	9 Months Ended
	Sep. 30, 2019	Sep. 30, 2019	Dec. 31, 2018
Revenue from Contract with Customer [Abstract]
Contract assets	$ 37,300,000	$ 37,300,000	$ 36,500,000
Contract liabilities	34,400,000	34,400,000	32,800,000
Net contract assets	2,900,000	2,900,000	$ 3,700,000
$ Change
Contract assets		800,000
Contract liabilities		1,600,000
Net contract assets		$ (800,000)
% Change
Contract assets		2.20%
Contract liabilities		4.90%
Net contract assets		(21.60%)
Percent of contract liabilities		80.00%
Impairment losses on contract assets	$ 0	$ 0