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Intangible Assets and Liabilities - Gross Carrying Amount and Accumulated Amortization (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Finite-Lived Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, gross | $ 917,178 | $ 905,134 | $ 928,422
Accumulated amortization | (870,896) | (840,193) |
Total intangible assets subject to amortization | 46,282 | 64,941 |
Finite-lived intangible liabilities, gross | (23,900) | (23,900) | $ (23,900)
Finite-lived intangible liabilities, accumulated accretion | 23,900 | 23,900 |
Finite-lived intangible liabilities, net | 0 | 0 |
Core-developed technology |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, gross | 502,010 | 498,601 |
Accumulated amortization | (499,571) | (492,782) |
Total intangible assets subject to amortization | 2,439 | 5,819 |
Customer contracts and relationships |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, gross | 329,688 | 322,360 |
Accumulated amortization | (287,653) | (265,503) |
Total intangible assets subject to amortization | 42,035 | 56,857 |
Trademarks and trade names |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, gross | 73,461 | 72,156 |
Accumulated amortization | (71,740) | (70,101) |
Total intangible assets subject to amortization | 1,721 | 2,055 |
Other |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |
Finite-lived intangible assets, gross | 12,019 | 12,017 |
Accumulated amortization | (11,932) | (11,807) |
Total intangible assets subject to amortization | $ 87 | $ 210 |

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