Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Jan. 01, 2019
Dec. 31, 2016
Operating Loss Carryforwards [Line Items]          
Percentage of Net Operating Losses Limited upon Tax Reform Enactment 80.00%        
Tax Cuts And Jobs Act Of 2017, provisional income tax expense $ 0.1        
Undistributed earnings of foreign subsidiaries 12.7        
Future annual required taxable income for state tax purposes 142.7        
Unrecognized tax benefits 0.7 $ 1.6 $ 4.8 $ 1.6 $ 5.0
Unrecognized tax benefit that would impact effective tax rate, net of federal tax benefits 0.1        
Decrease resulting from prior period tax positions 0.9 3.4 $ 0.6    
Decrease to prior period tax positions related to Tax Cuts and Jobs Act of 2017   $ 3.1      
Decrease in Unrecognized Tax Benefits is Reasonably Possible 0.1        
State          
Operating Loss Carryforwards [Line Items]          
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration 41.2        
Foreign          
Operating Loss Carryforwards [Line Items]          
Deferred Tax Assets, Operating Loss Carryforwards, Subject to Expiration $ 41.6