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Contract Assets and Liabilities - Summary of net asset position for contracts in process (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]    
Unbilled revenue $ 128,785 $ 126,087
Deferred revenue (123,301) (102,673)
Net asset position for contracts in process $ 5,484 $ 23,414