Revenue - Expected Timing of Revenue Recognition (Details) $ in Thousands | 3 Months Ended |
Mar. 31, 2021USD ($) |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Operating lease income | $ 9,000 |
Revenue recognized from contract operations services including revenue deferred in previous periods | 15,800 |
Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | 300,500 |
Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | 445,061 |
Performance obligation satisfied in previous periods | 27,800 |
Performance obligation satisfied in previous periods, included in billings in excess of costs | 16,400 |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-04-01 | Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 33,000 |
Expected timing of satisfaction, period | 9 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-04-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 149,838 |
Expected timing of satisfaction, period | 9 months |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01 | Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 43,000 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-01-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 205,167 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 | Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 77,000 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 59,556 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 | Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 65,000 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 13,000 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01 | Operating lease contracts | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 47,000 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 17,500 |
Expected timing of satisfaction, period | 1 year |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01 | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 0 |
Expected timing of satisfaction, period | |
Financing | Product sales | |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] | |
Expected timing of revenue recognition from unsatisfied performance obligations | $ 43,000 |