Financial Instruments - Fair Value of Financial Instruments (Details) - USD ($) $ in Thousands		Mar. 31, 2021	Dec. 31, 2020
Other Financial Instrument
Cash and cash equivalents		$ 267,794	$ 317,379
Net investment in sales-type leases		20,623	19,414
Equity securities		1,086	13,633
Foreign exchange contracts — forwards		1,704	1,979
Credit Facility borrowings		(50,813)	(305,676)
Carrying Amount, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 1 [Member]
Other Financial Instrument
Cash and cash equivalents	[1]	267,794	317,379
Equity securities	[2]	1,086	13,633
Carrying Amount, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Net financed sales receivables	[3]	110,213	112,396
Net investment in sales-type leases	[3]	20,623	19,414
Equity securities	[1]	1,000	1,000
COLI	[4]	3,184	3,155
Working Capital Facility borrowings	[1]	(7,590)	(7,643)
Credit Facility borrowings	[1]	(45,000)	(300,000)
Convertible notes	[5]	(230,000)	0
Carrying Amount, Fair Value Disclosure [Member] | Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Foreign exchange contracts — forwards	[3]	1,682	1,635
Carrying Amount, Fair Value Disclosure [Member] | Not Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Foreign exchange contracts — forwards	[3]	22	344
Estimate of Fair Value, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 1 [Member]
Other Financial Instrument
Cash and cash equivalents	[1]	267,794	317,379
Equity securities	[2]	1,086	13,633
Estimate of Fair Value, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Net financed sales receivables	[3]	110,163	112,603
Net investment in sales-type leases	[3]	20,729	19,373
Equity securities	[1]	1,000	1,000
COLI	[4]	3,184	3,155
Working Capital Facility borrowings	[1]	(7,590)	(7,643)
Credit Facility borrowings	[1]	(45,000)	(300,000)
Convertible notes	[5]	(232,654)	0
Estimate of Fair Value, Fair Value Disclosure [Member] | Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Foreign exchange contracts — forwards	[3]	1,682	1,635
Estimate of Fair Value, Fair Value Disclosure [Member] | Not Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]
Other Financial Instrument
Foreign exchange contracts — forwards	[3]	$ 22	$ 344

[1] Recorded at cost, which approximates fair value.

[2] Fair value is determined using quoted prices in active markets

[3] Fair value is estimated based on discounting future cash flows at currently available interest rates with comparable terms

[4] Measured at cash surrender value, which approximates fair value

[5] Fair value is determined using quoted market prices that are observable in the market or that could be derived from observable market data