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Contracts with Customers - Summary of Accounts Receivable, Net (Details) - USD ($) $ in Thousands	Mar. 31, 2021	Dec. 31, 2020
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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