Research and Development (Details)	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales	2.20%	2.40%	2.30%
Research and Development Expense
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales	1.20%	1.10%	1.00%
Engineering Expense
Research and Development Arrangement, Contract to Perform for Others [Line Items]
Expenditures as a percentage of sales	1.00%	1.30%	1.30%