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Contract balances (Details 2) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]      
Contract assets $ 107,543   $ 104,345
Change in contract assets 3,198    
Contract liabilities - current (142,828)   (158,603)
Change in contract liabilities - current 15,775    
Contract liabilities - noncurrent (171)   (52)
Change in contract liabilities - noncurrent (119)    
Net contract liabilities (35,456)   $ (54,310)
Change in net contract liabilities 18,854    
Amounts included in contract liability at the beginning of the period 123,400 $ 89,400  
Amounts from performance obligations satisfied in prior periods $ 34,300 $ 19,500