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Revenue - Narrative (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2020
USD ($)
segment
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Revenue Recognition [Abstract]      
Outstanding performance obligation $ 111,833    
Warranty maintenance period 1 year    
Amounts included in contract liability at the beginning of period $ 30,635 $ 26,486 $ 37,206
Number of operating segments | segment 1    
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2021-01-01      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Remaining performance obligation (as a percentage) 94.00%    
Performance obligations expected to be satisfied, expected timing 12 months    
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2022-01-01      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]      
Remaining performance obligation (as a percentage) 4.00%    
Performance obligations expected to be satisfied, expected timing 1 year