Summary of Significant Accounting Policies - Narrative (Details) - USD ($)	3 Months Ended	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Property, Plant and Equipment [Line Items]
Inventories	$ 78,588,000	$ 78,588,000	$ 71,480,000
Retained earnings	5,169,270,000	5,169,270,000	5,205,421,000
Marketable Securities, Unrealized Gain (Loss)		$ 0	0	$ 0
Finite-lived intangible assets, estimated useful lives		10 years
Amortization expense		$ 18,000,000	10,000,000	7,000,000
Recognition period		5 years
Impairment	0	$ 0	198,169,000	0
Equipment sales
Property, Plant and Equipment [Line Items]
Cost of equipment sales		251,914,000	235,153,000	244,620,000
Cumulative effect of accounting change
Property, Plant and Equipment [Line Items]
Inventories			5,635,000	4,000,000
Retained earnings			4,226,000	3,000,000
Cumulative effect of accounting change | Equipment sales
Property, Plant and Equipment [Line Items]
Cost of equipment sales			(1,563,000)	410,000
Previously Reported
Property, Plant and Equipment [Line Items]
Inventories	2,000,000	2,000,000	65,845,000
Retained earnings			5,201,195,000
Previously Reported | Equipment sales
Property, Plant and Equipment [Line Items]
Cost of equipment sales		$ 2,000,000	236,716,000	$ 244,210,000
Minimum
Property, Plant and Equipment [Line Items]
Lease period		3 years
Maximum
Property, Plant and Equipment [Line Items]
Lease period		5 years
Buildings
Property, Plant and Equipment [Line Items]
Estimated useful lives		50 years
Building improvements | Minimum
Property, Plant and Equipment [Line Items]
Estimated useful lives		10 years
Building improvements | Maximum
Property, Plant and Equipment [Line Items]
Estimated useful lives		20 years
Software development costs | Minimum
Property, Plant and Equipment [Line Items]
Estimated useful lives		3 years
Machinery and equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated useful lives		3 years
Machinery and equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated useful lives		12 years
Rental equipment | Minimum
Property, Plant and Equipment [Line Items]
Estimated useful lives		4 years
Rental equipment | Maximum
Property, Plant and Equipment [Line Items]
Estimated useful lives		6 years
Other Assets
Property, Plant and Equipment [Line Items]
Unamortized contract costs	$ 48,000,000	$ 48,000,000	$ 40,000,000