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Revenue from Contracts with Customers - Schedule of Contract with Customer, Asset and Liability (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Contract assets, current $ 203,353 $ 171,956
Contract assets, non-current 0 0
Contract liabilities, current (769,959) (722,252)
Contract liabilities, non-current (2,535) (2,283)
Net contract liabilities $ (569,141) $ (552,579)