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Acquisitions and Disposition - Dispositions Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Sep. 30, 2018
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]        
Gain on sale of subsidiary $ 0 $ 2,384 $ 0  
Disposal Group, Disposed of by Sale, Not Discontinued Operations | Disposal of Foreign Subsidiaries | Products and Systems        
Income Statement, Balance Sheet and Additional Disclosures by Disposal Groups, Including Discontinued Operations [Line Items]        
Consideration received on sale of subsidiary       $ 4,300
Gain on sale of subsidiary   $ 2,400    
Term of agreement to purchase products from buyer on sale of subsidiary 3 years 3 years    
Amount of purchase agreement with buyer on sale of subsidiary $ 2,300 $ 2,300