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Contract Assets and Contract Liabilities - Summary of Accounts Receivable and Unbilled, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Revenue From Contract With Customer [Abstract]        
Accounts receivable $ 127,877 $ 85,120    
Unbilled receivables 28,368 49,361    
Less: allowance for doubtful accounts (583) (1,032) $ (673) $ (3,222)
Total accounts receivable and unbilled, net $ 155,662 $ 133,449