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Revenue from Contracts with Customers - Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2020
Dec. 31, 2019
Jan. 01, 2019
Contract Assets and Contract Liabilities      
Contract assets $ 313 $ 644 $ 173
Deferred revenues 179,900 213,145 $ 212,529
Contract with customer, liability, revenue recognized 177,462 202,354  
Contract with customer liability additions 142,678 202,806  
Remaining performance obligations      
Remaining performance obligation amount $ 179,900    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-01-01      
Remaining performance obligations      
Remaining performance obligation amount   $ 213,145  
Remaining performance obligation, percent to be recognized over next twelve months   96.20%  
Remaining performance obligation expected timing of satisfaction period   12 months  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2020-10-01      
Remaining performance obligations      
Remaining performance obligation, percent to be recognized over next twelve months 96.50%    
Remaining performance obligation expected timing of satisfaction period 12 months