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Intangible Assets - Carrying Value of Intangible Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Intangible Assets [Line Items] |  |  |
Gross Carrying Amount | $ 907,331 | $ 862,253 | $ 821,448
Net Carrying Amount | 907,331 | 862,253 | 821,448
Finite-lived intangible assets, Gross Carrying Amount | 661,375 | 587,591 |
Finite-lived intangible assets, Accumulated Amortization | (419,231) | (367,761) |
Finite-lived intangible assets, Net Carrying Amount | 242,144 | 219,830 |
Indefinite-lived intangible assets, Carrying Amount | 27,000 | 27,000 |
Intangible assets, Gross Carrying Amount | 688,375 | 614,591 |
Intangible assets | 269,144 | 246,830 | $ 238,155
Trademarks |  |  |
Intangible Assets [Line Items] |  |  |
Indefinite-lived intangible assets, Carrying Amount | 27,000 | 27,000 |
Developed technology |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 300,240 | 273,524 |
Finite-lived intangible assets, Accumulated Amortization | (219,210) | (190,808) |
Finite-lived intangible assets, Net Carrying Amount | 81,030 | 82,716 |
Customer relationships |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 296,616 | 253,275 |
Finite-lived intangible assets, Accumulated Amortization | (145,739) | (129,730) |
Finite-lived intangible assets, Net Carrying Amount | 150,877 | 123,545 |
Trademarks |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 43,862 | 40,951 |
Finite-lived intangible assets, Accumulated Amortization | (35,089) | (30,077) |
Finite-lived intangible assets, Net Carrying Amount | 8,773 | 10,874 |
Backlog |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 14,847 | 13,554 |
Finite-lived intangible assets, Accumulated Amortization | (13,483) | (11,192) |
Finite-lived intangible assets, Net Carrying Amount | 1,364 | 2,362 |
In-service research and development |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 5,000 | 5,507 |
Finite-lived intangible assets, Accumulated Amortization | (5,000) | (5,342) |
Finite-lived intangible assets, Net Carrying Amount | 0 | 165 |
Non-compete agreements |  |  |
Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, Gross Carrying Amount | 810 | 780 |
Finite-lived intangible assets, Accumulated Amortization | (710) | (612) |
Finite-lived intangible assets, Net Carrying Amount | $ 100 | $ 168 |

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