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Revenue from Contracts with Customers - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]      
Contract assets $ 474,400 $ 471,800  
Contract assets, current 338,749 318,191  
Increase in contract assets 2,500    
Contract liabilities 288,900 164,100  
Contract liabilities, current 280,659 162,045  
Recognized revenue included in contract liability 152,000    
Capitalized contract cost 84,900 64,200 $ 69,300
Capitalized contract cost, amortization of transaction cost $ 40,300 $ 46,900 $ 32,300