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Revenue Recognition - Additional details (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Jan. 01, 2018 | Dec. 31, 2017
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |
Catchup adjustment from ASU | $ 617,768 | $ 404,112 | $ 235,701 |  | $ 285,757
Net favorable changes in estimates resulting in increased revenues | 44,900 | 70,900 | 58,600 |  |
Increase in cost of operations | 2,100 | (700) | 12,300 |  |
Recognized decrease in operating income |  |  | $ 29,200 |  |
Decrease in earnings per share. |  |  | $ 0.23 |  |
Increase in receivables billed | 70,400 |  |  |  |
Advanced billings revenue recognized | $ 51,500 | 62,300 |  |  |
Cumulative Effect, Period of Adoption, Adjustment |  |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |  |
Catchup adjustment from ASU |  | $ 0 | $ (1,142) | $ 9,900 | $ 9,926

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