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Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) | Dec. 31, 2020 | Dec. 31, 2019
--- | --- | ---
Deferred tax assets (liabilities) |  |
Employee benefits | $ 38,200,000 | $ 29,800,000
Deferred revenue | 24,400,000 | 22,900,000
Lease liabilities | 14,800,000 | 16,300,000
Inventory reserves | 7,500,000 | 7,600,000
Deferred state tax attributes | 7,200,000 | 8,300,000
Warranty reserves | 5,400,000 | 4,600,000
Foreign loss carryforwards | 5,300,000 | 4,400,000
Allowance for doubtful accounts | 3,300,000 | 3,300,000
Federal tax credit carryovers | 3,300,000 | 2,400,000
Other, net | 8,700,000 | 5,000,000.0
Gross deferred assets | 118,100,000 | 104,600,000
Valuation allowances | (7,100,000) | (5,300,000)
Deferred tax assets after valuation allowances | 111,000,000.0 | 99,300,000
Intangibles | (205,800,000) | (219,000,000.0)
Property, plant and equipment | (57,800,000) | (55,800,000)
Right of use assets | (13,200,000) | (15,000,000.0)
Undistributed foreign earnings | (4,600,000) | (13,600,000)
Gross deferred liabilities | (281,400,000) | (303,400,000)
Net deferred tax liabilities | (170,400,000) | $ (204,100,000)
Deferred tax assets, federal NOL | 0 |
Deferred tax asset for state tax loss carry forwards | 3,100,000 |
Valuation allowance on state tax losses | 400,000 |
Valuation allowance on foreign tax losses | 3,500,000 |
Foreign tax credit carryforwards | $ 3,200,000 |

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