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Property, plant and equipment (Tables)
12 Months Ended
Dec. 31, 2020
Property, Plant and Equipment [Abstract]  
Major Classes of Property, Plant and Equipment at Cost
The major classes of property, plant and equipment, at cost, at December 31, 2020 and 2019 were as follows: 
20202019
Land, buildings and leasehold improvements
$272,637 $248,067 
Machinery and equipment496,664 443,612 
Computer equipment and software172,913 158,574 
Construction in progress84,336 63,991 
1,026,550 914,244 
Less: Accumulated depreciation(552,638)(483,525)
Property, plant and equipment, net$473,912 $430,719