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Contracts with Customers - Summary of Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Revenue From Contract With Customer [Abstract]    
Contract assets $ 569,294 $ 576,568
Contract liabilities 186,789 201,864
Net contract assets (liabilities) 382,505 $ 374,704
Change in contract assets (7,274)  
Change in contract liabilities (15,075)  
Change in contract assets and liabilities $ 7,801  
Percentage change in contract assets (1.30%)  
Percentage change in contract liabilities (7.50%)  
Percentage change in contract assets and liabilities 2.10%