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Contracts with Customers - Summary of Accounts Receivable, Net (Details) - USD ($) $ in Thousands | Jun. 30, 2020 | Dec. 31, 2019
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Revenue From Contract With Customer [Abstract] |  |
Billed | $ 487,654 | $ 475,528
Unbilled | 235,245 | 201,461
Total accounts receivable, gross | 722,899 | 676,989
Allowance for doubtful accounts | (5,541) | (5,497)
Total accounts receivable, net | $ 717,358 | $ 671,492

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