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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