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Segment Reporting - Financial Information by Segment (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Segment Reporting Information [Line Items]        
Total revenue $ 79,809 $ 109,575 $ 196,522 $ 208,036
Operating expenses 26,405 31,523 58,444 60,657
Selling, general and administrative expenses 17,844 18,325 41,182 36,937
Other income, net (1,523) (3,345) (4,448) (5,552)
Segment profit (loss) (6,950) 17,636 12,463 35,602
Depreciation and amortization 29,159 28,865 58,409 57,804
Loss (gain) on disposal of assets, net 7 (15) 3 (13)
Loss from tax receivable agreement adjustment 4,446   4,446  
Stock-based compensation 3,271 2,812 6,039 4,955
Interest expense, net 9,539 15,656 21,990 31,689
Income (loss) before income tax benefit, provision (19,412) 5,325 (9,525) 9,465
Impairment of property and equipment   5,898   5,898
Government Solutions        
Segment Reporting Information [Line Items]        
Impairment of property and equipment   5,900   5,900
Service Revenue        
Segment Reporting Information [Line Items]        
Total revenue 62,815 103,057 162,312 201,127
Cost of revenue 1,013 1,613 2,232 3,002
Product Sales        
Segment Reporting Information [Line Items]        
Total revenue 16,994 6,518 34,210 6,909
Cost of revenue 9,060 2,918 17,750 3,194
Operating Segments        
Segment Reporting Information [Line Items]        
Segment profit (loss) 27,010 58,541 81,362 109,798
Operating Segments | Government Solutions        
Segment Reporting Information [Line Items]        
Total revenue 52,537 41,484 108,008 77,357
Operating expenses 15,655 14,801 31,164 28,839
Selling, general and administrative expenses 7,150 7,561 16,819 15,411
Other income, net (16) (37) (52) (74)
Segment profit (loss) 20,321 15,543 41,548 28,764
Loss (gain) on disposal of assets, net 2 (15) (2) (13)
Income (loss) before income tax benefit, provision 20,319 9,660 41,550 22,879
Impairment of property and equipment   5,898   5,898
Operating Segments | Commercial Services        
Segment Reporting Information [Line Items]        
Total revenue 27,272 68,091 88,514 130,679
Operating expenses 10,750 16,722 27,280 31,818
Selling, general and administrative expenses 10,191 9,629 23,575 20,391
Other income, net (1,507) (3,308) (4,396) (5,478)
Segment profit (loss) 7,192 44,133 40,602 82,169
Loss (gain) on disposal of assets, net 5   5  
Income (loss) before income tax benefit, provision 7,187 44,133 40,597 82,169
Operating Segments | Service Revenue | Government Solutions        
Segment Reporting Information [Line Items]        
Total revenue 35,543 34,966 73,798 70,448
Cost of revenue 367 698 779 1,223
Operating Segments | Service Revenue | Commercial Services        
Segment Reporting Information [Line Items]        
Total revenue 27,272 68,091 88,514 130,679
Cost of revenue 646 915 1,453 1,779
Operating Segments | Product Sales | Government Solutions        
Segment Reporting Information [Line Items]        
Total revenue 16,994 6,518 34,210 6,909
Cost of revenue 9,060 2,918 17,750 3,194
Corporate and Other        
Segment Reporting Information [Line Items]        
Selling, general and administrative expenses 503 1,135 788 1,135
Segment profit (loss) (503) (1,135) (788) (1,135)
Depreciation and amortization 29,159 28,865 58,409 57,804
Loss from tax receivable agreement adjustment 4,446   4,446  
Stock-based compensation 3,271 2,812 6,039 4,955
Interest expense, net 9,539 15,656 21,990 31,689
Income (loss) before income tax benefit, provision $ (46,918) $ (48,468) $ (91,672) $ (95,583)