Acquisitions (Details) - USD ($) $ in Thousands	Apr. 01, 2019	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Business Acquisition [Line Items]
Payables recorded under contingent payment arrangements		$ 17,384	$ 0	$ 0
Business combination, contingent consideration, liability, term	5 years
Goodwill		$ 3,076,926	$ 3,066,700
Autonomous
Business Acquisition [Line Items]
Ownership percentage	100.00%
Cash paid	$ 6,500
Payables recorded under contingent payment arrangements	17,400
Excess of purchase price over the current fair value of identifiable net assets acquired	5,600
Goodwill	$ 10,200
Compensation expense, additional cash payments, amortization term	2 years
Compensation expense, contingent consideration payable, amortization term	5 years
Autonomous | Customer relationships and trademarks
Business Acquisition [Line Items]
Intangible assets acquired	$ 8,100