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Revenue - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Outstanding performance obligation | $ 143,169 |  |
Warranty maintenance period | 1 year |  |
Revenue | $ 615,639 | $ 557,240 | $ 636,354
Amounts included in contract liability at the beginning of period | $ 30,302 | $ 30,635 | $ 26,486
One Customer | Revenue from Contract with Customer Benchmark | Customer Concentration Risk |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Concentration risk (as a percentage) | 22.00% | 13.00% | 11.00%
Collaborative Arrangement |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Revenue | $ 6,804 | $ 6,953 | $ 7,260
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2022-01-01 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Remaining performance obligation (as a percentage) | 77.00% |  |
Performance obligations expected to be satisfied, expected timing | 12 months |  |
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Axis]: 2023-01-01 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Remaining performance obligation (as a percentage) | 13.00% |  |
Performance obligations expected to be satisfied, expected timing | 12 months |  |

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