Summary of Significant Accounting Policies, Research and Development (Details) - USD ($) $ in Millions |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2019 |
Dec. 31, 2018 |
Dec. 31, 2017 |
|
| Research and Development [Abstract] | |||
| Research and development expense | $ 30.1 | $ 23.0 | $ 22.0 |