Acquisitions - Fair Value of Assets Acquired and Liabilities Assumed (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Jan. 25, 2021	Dec. 31, 2020
Business Acquisition [Line Items]
Goodwill	$ 447,059		$ 443,272
Bristol
Business Acquisition [Line Items]
Cash included in current assets		$ 13,300
Current assets (including cash of $13.3 million)		37,100
Net investment in sales-type leases, noncurrent		29,000
Property, plant and equipment and other noncurrent assets		11,900
Goodwill	$ 4,700	4,700
Total assets acquired		88,600
Total liabilities assumed		(12,300)
Net assets acquired		76,300
Customer relationships | Bristol
Business Acquisition [Line Items]
Intangible assets		4,500
Trade name and other intangible assets | Bristol
Business Acquisition [Line Items]
Intangible assets		$ 1,400