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Operating Segments and Geographic Information - Operating Segment Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Segment Reporting Information [Line Items] |  |  |
Revenues | $ 2,512,084 | $ 2,606,485 | $ 2,301,260
Depreciation expense | 51,400 | 46,700 | 43,900
Amortization of intangibles | 40,375 | 37,860 | 30,630
Severance, restructuring, and acquisition integration costs | 18,654 | 16,470 | 18,367
Asset impairments | 0 | 0 | 140,461
Acquisition of property, plant and equipment | 116,731 | 105,094 | 90,982
Segment assets | 3,240,191 | 3,161,675 | 3,417,677
Enterprise Solutions |  |  |
Segment Reporting Information [Line Items] |  |  |
Revenues | 1,122,831 | 1,198,478 | 1,074,426
Severance, restructuring, and acquisition integration costs | 10,128 | 8,130 | 12,183
Industrial Automation Solutions |  |  |
Segment Reporting Information [Line Items] |  |  |
Revenues | 1,389,253 | 1,408,007 | 1,226,834
Severance, restructuring, and acquisition integration costs | 8,526 | 8,340 | 6,184
Reportable Segment |  |  |
Segment Reporting Information [Line Items] |  |  |
Revenues | 2,512,084 | 2,606,485 | 2,301,260
Segment EBITDA | 436,435 | 438,596 | 367,193
Depreciation expense | 51,379 | 46,669 | 43,073
Amortization of intangibles | 40,375 | 37,860 | 30,630
Amortization of software development intangible assets | 7,692 | 3,875 | 1,579
Adjustments related to acquisitions and divestitures | 6,177 | 7,833 | (5,035)
Severance, restructuring, and acquisition integration costs | 25,152 | 16,685 | 23,867
Asset impairments | 0 | 0 | 9,283
Acquisition of property, plant and equipment | 100,309 | 92,248 | 77,995
Segment assets | 1,364,582 | 1,270,888 | 1,163,521
Reportable Segment | Software Development |  |  |
Segment Reporting Information [Line Items] |  |  |
Amortization of software development intangible assets | 7,692 | 3,875 | 1,579
Reportable Segment | Enterprise Solutions |  |  |
Segment Reporting Information [Line Items] |  |  |
Revenues | 1,122,831 | 1,198,478 | 1,074,426
Segment EBITDA | 149,107 | 161,517 | 144,509
Depreciation expense | 24,943 | 23,387 | 21,627
Amortization of intangibles | 20,085 | 17,595 | 17,595
Adjustments related to acquisitions and divestitures | 5,359 | 5,589 | (7,052)
Severance, restructuring, and acquisition integration costs | 11,221 | 9,200 | 13,800
Acquisition of property, plant and equipment | 36,237 | 33,535 | 36,726
Segment assets | 637,105 | 593,653 | 563,141
Reportable Segment | Enterprise Solutions | Software Development |  |  |
Segment Reporting Information [Line Items] |  |  |
Amortization of software development intangible assets | 0 | 54 | 94
Reportable Segment | Industrial Automation Solutions |  |  |
Segment Reporting Information [Line Items] |  |  |
Revenues | 1,389,253 | 1,408,007 | 1,226,834
Segment EBITDA | 287,328 | 277,079 | 222,684
Depreciation expense | 26,436 | 23,282 | 21,446
Amortization of intangibles | 20,290 | 20,265 | 13,035
Adjustments related to acquisitions and divestitures | 818 | 2,244 | 2,017
Severance, restructuring, and acquisition integration costs | 13,931 | 7,485 | 10,067
Asset impairments | 0 | 0 | 9,283
Acquisition of property, plant and equipment | 64,072 | 58,713 | 41,269
Segment assets | 727,477 | 677,235 | 600,380
Reportable Segment | Industrial Automation Solutions | Software Development |  |  |
Segment Reporting Information [Line Items] |  |  |
Amortization of software development intangible assets | $ 7,692 | $ 3,821 | $ 1,485

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