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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
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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