First, this is a very generic.NET error, so without any context it is impossible to comment.
But whatever, you should never see this error. Basically, it is a bug in SSMS, although it could be that something is a bit corrupted in your machine.
In any case, if you are not running version 19.1, which is the most recent version of SSMS, download and install it.
If the problem persists after this, please share the steps you are doing when you get this error.
Note that if you have an older version of SSMS install (that is SSMS 18 or earlier), SSMS 19 will install in parallel with your old SSMS installation..