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Revenue - Summary of Total Receivables, Net (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Revenue from Contract with Customer [Abstract] |  |
Billed receivables | $ 147,247 | $ 179,177
Allowance for doubtful accounts | (2,544) | (3,912)
Billed receivables, net | 144,703 | 175,265
Current accrued receivables, net | 154,633 | 167,614
Long-term accrued receivables, net | 196,676 | 215,772
Total accrued receivables, net | 351,309 | 383,386
Total receivables, net | $ 496,012 | $ 558,651

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