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Financial Instruments - Fair Value of Financial Instruments (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Other Financial Instrument    
Cash and cash equivalents $ 193,008 $ 317,379
Net investment in sales-type leases 22,002 19,414
Equity securities 1,089 13,633
Foreign exchange contracts — forwards (270) 1,979
Credit Facility borrowings (9,486) (305,676)
Carrying Amount, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 1 [Member]    
Other Financial Instrument    
Cash and cash equivalents [1] 193,008 317,379
Equity securities [2] 1,089 13,633
Carrying Amount, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Net financed sales receivables [3] 113,200 112,396
Net investment in sales-type leases [3] 22,002 19,414
Equity securities [1] 1,000 1,000
COLI [4] 3,244 3,155
Working Capital Facility borrowings [1] (10,974) (7,643)
Credit Facility borrowings [1] 0 (300,000)
Convertible notes [5] (230,000) 0
Carrying Amount, Fair Value Disclosure [Member] | Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Foreign exchange contracts — forwards [3] (209) 1,635
Carrying Amount, Fair Value Disclosure [Member] | Not Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Foreign exchange contracts — forwards [3] (61) 344
Estimate of Fair Value, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 1 [Member]    
Other Financial Instrument    
Cash and cash equivalents [1] 193,008 317,379
Equity securities [2] 1,089 13,633
Estimate of Fair Value, Fair Value Disclosure [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Net financed sales receivables [3] 113,210 112,603
Net investment in sales-type leases [3] 21,850 19,373
Equity securities [1] 1,000 1,000
COLI [4] 3,244 3,155
Working Capital Facility borrowings [1] (10,974) (7,643)
Credit Facility borrowings [1] 0 (300,000)
Convertible notes [5] (224,574) 0
Estimate of Fair Value, Fair Value Disclosure [Member] | Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Foreign exchange contracts — forwards [3] (209) 1,635
Estimate of Fair Value, Fair Value Disclosure [Member] | Not Designated as Hedging Instrument [Member] | Fair Value, Inputs, Level 2 [Member]    
Other Financial Instrument    
Foreign exchange contracts — forwards [3] $ (61) $ 344
[1] Recorded at cost, which approximates fair value.
[2] Fair value is determined using quoted prices in active markets
[3] Fair value is estimated based on discounting future cash flows at currently available interest rates with comparable terms
[4] Measured at cash surrender value, which approximates fair value
[5] Fair value is determined using quoted market prices that are observable in the market or that could be derived from observable market data