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Revenue - Contract Balances (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Contract with Customer, Asset, Net, Current [Roll Forward]    
Contract with Customer, Receivable, Net, Current $ 368,346 $ 296,355
Contract with Customer, Receivable, Current, Net Increase (Decrease) (11,916) (48,910)
Contract with Customer, Receivable, Net, Current 356,430 247,445
Contract with Customer, Asset, Gross, Current 29,327 31,525
Contract with Customer, Contract Asset, Current, Net Increase (Decrease) (1,527) 166
Contract with Customer, Asset, Gross, Current 27,800 31,691
Contract with Customer, Asset, Net, Noncurrent [Roll Forward]    
Contract with Customer, Receivable, Net, Noncurrent 70,975 63,554
Contract with Customer, Receivable, NonCurrent, Net Increase (Decrease) (2,434) (3,968)
Contract with Customer, Receivable, Net, Noncurrent 68,541 59,586
Contract with Customer, Asset, Gross, Noncurrent 5,283 2,504
Increase (Decrease) in Contract Receivables, Net (1,111) 6,960
Contract with Customer, Asset, Gross, Noncurrent 4,172 9,464
Contract with Customer, Liability, Current [Roll Forward]    
Contract with Customer, Liability, Current 9,373 2,492
Contract with Customer, Liability, Current, Net Increase (Decrease) 3,791 3,131
Contract with Customer, Liability, Current 13,164 5,623
Contract with Customer, Liability, Noncurrent [Roll Forward]    
Contract with Customer, Liability, Noncurrent 147 615
Contract with Customer, Liability, Noncurrent, Net Increase (Decrease) 0 0
Contract with Customer, Liability, Noncurrent $ 147 $ 615