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Contract balances (Details 2) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]          
Contract assets $ 147,033   $ 147,033   $ 104,345
Change in contract assets     42,688    
Contract liabilities - current (146,116)   (146,116)   (158,603)
Change in contract liabilities - current     12,487    
Contract liabilities - noncurrent (160)   (160)   (52)
Change in contract liabilities - noncurrent     (108)    
Net contract assets (liabilities) 757   757   $ (54,310)
Change in net contract liabilities     55,067    
Amounts included in contract liability at the beginning of the period 21,900 $ 32,300 145,300 $ 121,700  
Amounts from performance obligations satisfied in prior periods $ 27,300 $ 31,900 $ 54,600 $ 42,900