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Revenues - Changes in Contract Assets and Liabilities under Topic 606 (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2018
Mar. 30, 2018
Contract Assets - Current Portion    
Balance   $ 9,588
Increases as a result of a change in transaction price and recognition of revenues as services are performed   46,006
Transfer to receivables from contract assets recognized at the beginning of the period   (9,159)
Other   (14,591)
Balance   31,844
Contract Assets - Long-term Portion    
Balance   12,247
Increases as a result of a change in transaction price and recognition of revenues as services are performed   1,166
Other   (13,413)
Balance   0
Contract Liabilities - Current Portion    
Balance   8,393
Increases as a result of the deferral of milestones earned in period, excluding amounts recognized as revenue   173
Revenue recognized that was included in the contract liability balance at the beginning of the period   (3,492)
Other   (5,074)
Balance   0
Contract Liabilities - Long-term Portion    
Balance   25,441
Increases as a result of the deferral of milestones earned in period, excluding amounts recognized as revenue   666
Revenue recognized that was included in the contract liability balance at the beginning of the period   0
Other   (22,930)
Balance   3,177
Revenues recognized for performance obligations satisfied in previous periods $ 71,300  
Balances Without the Adoption of Topic 606    
Contract Assets - Current Portion    
Balance   0
Contract Assets - Long-term Portion    
Balance   0
Contract Liabilities - Current Portion    
Balance   31,984
Contract Liabilities - Long-term Portion    
Balance   238,520
Adjustments Due to the Adoption of Topic 606 | ASU 2014-09    
Contract Assets - Current Portion    
Balance   9,588
Contract Assets - Long-term Portion    
Balance   12,247
Contract Liabilities - Current Portion    
Balance   (23,591)
Contract Liabilities - Long-term Portion    
Balance   $ (213,079)