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Supplemental Financial Information - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Restructuring Cost and Reserve [Line Items]        
Restructuring and impairment charges $ 9,413 $ 580 $ 9,413 $ 2,485
Restructuring charges 9,027 (1) 9,027 948
Impairment charges 386 581 386 1,537
Lease income 0 57 0 932
Depreciation on leased assets 0 179 0 1,729
Severance        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges     8,754  
Facility Consolidation        
Restructuring Cost and Reserve [Line Items]        
Restructuring charges   $ 0   $ 900
PES        
Restructuring Cost and Reserve [Line Items]        
Restructuring and impairment charges 6,300   6,300  
ACS        
Restructuring Cost and Reserve [Line Items]        
Restructuring and impairment charges 2,900   2,900  
EMS        
Restructuring Cost and Reserve [Line Items]        
Restructuring and impairment charges $ 200   $ 200