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Acquisitions - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
May 20, 2019
Dec. 31, 2019
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Dec. 31, 2018
Business Acquisition [Line Items]              
Payments to acquire businesses         $ 33,196 $ 0  
Goodwill     $ 428,629   428,629   $ 413,640
Strategic transaction costs     952 $ 56 2,937 208  
Revenues     351,014 331,096 1,026,726 996,320  
Net income (loss)     42,239 $ 33,717 105,278 $ 99,267  
Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Voting interest acquired (percentage) 100.00%            
Payments to acquire businesses $ 33,200            
Goodwill 19,800   19,800   19,800    
Estimated future amortization expense, remainder of fiscal year     300   300    
Estimated future amortization expense, year 1 1,200            
Estimated future amortization expense, year 2 1,200            
Estimated future amortization expense, year 3 1,200            
Estimated future amortization expense, year 4 1,200            
Estimated future amortization expense, year 5 1,200            
Estimated future amortization expense, thereafter 5,300            
Step up to fair value of acquired inventory $ 1,600            
Amortization expense related to step up to fair value of acquired inventory         1,100    
Transaction costs     1,000   2,900    
Revenues         8,200    
Net income (loss)         (3,000)    
Purchase accounting amortization excluded from acquisitions         1,500    
Transaction costs     $ 2,100   2,100    
Adjusted earnings excluded from acquisitions         900    
Customer relationships | Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Useful life 10 years            
Technology | Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Useful life 5 years            
Stock Options And Restricted Stock Units | Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Goodwill $ 900            
Performance Stock Unit | Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Stock compensation cost         $ 1,500    
Forecast | Subsequent Event | Sierra Monitor Corporation              
Business Acquisition [Line Items]              
Amortization expense related to step up to fair value of acquired inventory   $ 500