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Inventories (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Inventory Disclosure [Abstract]    
Raw material and subassemblies $ 268,409 $ 281,641
Work-in-progress 56,930 51,763
Finished goods 131,668 138,833
Total inventories $ 457,007 $ 472,237