Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Jan. 01, 2018
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Decrease to deferred revenue	$ (4,200)	$ (5,600)
Increase to opening retained earnings	509,459	422,235
Deferred revenue	4,200	5,600
Revenue recognized	$ 5,600	$ 5,300
Accounting Standards Update 2014-09
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Decrease to deferred revenue			$ 1,100
Increase to opening retained earnings			1,100
Deferred revenue			$ (1,100)
Minimum
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Service contract, term (in years)	1 year
Maximum
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Service contract, term (in years)	3 years