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Revenue - Schedule of Contract Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Revenue From Contract With Customer [Abstract]    
Unbilled contracts receivable $ 132,431 $ 121,826
Other current assets 1,208  
Long-term unbilled contracts receivable 6,761 26,672
Other long-term assets 2,591  
Total contract assets $ 142,991 $ 148,498