Summary of Significant Accounting Policies - Long-Lived Assets (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Property, Plant and Equipment
Impairment loss of property, plant and equipment	$ 1.2	$ 3.8	$ 4.2
Impairment losses of intangible assets, finite-lived		$ 16.7
Buildings | Minimum
Property, Plant and Equipment
Useful lives	5 years
Buildings | Maximum
Property, Plant and Equipment
Useful lives	50 years
Machinery and equipment | Minimum
Property, Plant and Equipment
Useful lives	3 years
Machinery and equipment | Maximum
Property, Plant and Equipment
Useful lives	20 years