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Acquisitions - Fair Value of Assets Acquired and Liabilities Assumed (Details) - USD ($) $ in Thousands | Mar. 31, 2020 | Dec. 31, 2019 | May 20, 2019
--- | --- | --- | ---
Business Acquisition [Line Items] |  |  |
Goodwill | $ 430,114 | $ 436,679 |
Sierra Monitor Corporation |  |  |
Business Acquisition [Line Items] |  |  |
Cash included in current assets |  |  | $ 2,100
Current assets (including cash of $2.1 million) |  |  | 10,500
Property, plant and equipment and other noncurrent assets |  |  | 1,300
Goodwill | $ 19,900 |  | 19,900
Total assets acquired |  |  | 42,700
Total liabilities assumed |  |  | 6,500
Net assets acquired |  |  | 36,200
Customer relationships | Sierra Monitor Corporation |  |  |
Business Acquisition [Line Items] |  |  |
Intangible assets |  |  | 9,600
Acquired technology | Sierra Monitor Corporation |  |  |
Business Acquisition [Line Items] |  |  |
Intangible assets |  |  | $ 1,400

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