Income Taxes - Effective Income Tax Rate on Income Before Income Taxes (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
U.S. federal statutory tax rate	21.00%	21.00%	35.00%
Non-U.S. income taxed at other than the U.S. federal statutory rate	2.10%	2.80%	(0.10%)
State and local income taxes	4.00%	4.20%	3.50%
U.S. tax on non-U.S. earnings	1.10%	0.20%	7.30%
Valuation allowance	0.50%	0.40%	1.10%
Tax credits and incentives	(0.70%)	(6.20%)	(11.20%)
U.S. federal tax reform impact	0.00%	(2.60%)	(23.40%)
Other	(0.30%)	(0.90%)	(1.30%)
Effective tax rate	27.70%	18.90%	10.90%