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Contracts with Customers - Summary of Accounts Receivable, Net (Details) - USD ($) $ in Thousands | Mar. 31, 2021 | Dec. 31, 2020
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Revenue From Contract With Customer [Abstract] |  |
Billed | $ 521,031 | $ 512,357
Unbilled | 176,552 | 190,222
Total accounts receivable, gross | 697,583 | 702,579
Allowance for doubtful accounts | (3,999) | (4,001)
Total accounts receivable, net | $ 693,584 | $ 698,578

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