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Revenue from Contracts with Customers - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Revenue from Contract with Customer [Abstract]      
Contract assets $ 471,800 $ 529,800  
Contract assets, current 318,191 328,012  
Increase in contract assets (58,000)    
Contract liabilities 164,100 115,000  
Contract liabilities, current 162,045 108,671  
Recognized revenue included in contract liability 80,000    
Capitalized contract cost 64,200 69,300 $ 45,700
Capitalized contract cost, amortization of transaction cost $ 46,900 $ 32,300 $ 23,400