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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 $ 37,300,000 $ 29,400,000
Deferred revenue 24,400,000 22,900,000
Lease liabilities 14,300,000 15,800,000
Deferred state tax attributes 6,600,000 7,800,000
Inventory reserves 6,400,000 6,600,000
Warranty reserves 5,400,000 4,600,000
Foreign loss carryforwards 5,300,000 4,400,000
Allowance for doubtful accounts 3,100,000 3,000,000.0
Federal tax credit carryovers 3,300,000 2,400,000
Other, net 8,100,000 4,800,000
Gross deferred assets 114,200,000 101,700,000
Valuation allowances (7,100,000) (5,300,000)
Deferred tax assets after valuation allowances 107,100,000 96,400,000
Intangibles (189,600,000) (202,400,000)
Property, plant and equipment (52,500,000) (50,600,000)
Right of use assets (12,900,000) (14,500,000)
Undistributed foreign earnings (4,600,000) (13,600,000)
Gross deferred liabilities (259,600,000) (281,100,000)
Net deferred tax liabilities (152,500,000) $ (184,700,000)
Deferred tax assets, federal NOL 0  
Deferred tax asset for state tax loss carry forwards 2,800,000  
Valuation allowance on state tax losses 400,000  
Valuation allowance on foreign tax losses 3,500,000  
Foreign tax credit carryforwards $ 3,200,000