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Revenue - Summary of Total Receivables, Net (Details) - USD ($) $ in Thousands | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
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Revenue from Contract with Customer [Abstract] |  |  |  |
Billed receivables | $ 179,177 | $ 213,654 |  |
Allowance for doubtful accounts | (3,912) | (5,149) | $ (3,912) | $ (4,799)
Billed receivables, net | 175,265 | 208,505 |  |
Current accrued receivables, net | 167,614 | 150,692 |  |
Long-term accrued receivables, net | 215,772 | 213,041 |  |
Total accrued receivables, net | 383,386 | 363,733 |  |
Total receivables, net | $ 558,651 | $ 572,238 |  |

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