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Revenue from Contracts with Customers - Contract Costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Capitalized Contract Cost [Roll Forward]      
Beginning balance $ 175,966    
Impairment (10,000) $ (2,000)  
Ending balance 145,712 175,966  
Contract cost impairment loss 10,000 2,000  
Costs to Obtain Contracts      
Capitalized Contract Cost [Roll Forward]      
Beginning balance 23,595 21,298  
Additions 5,590 9,378  
Amortization (7,314) (7,081)  
Ending balance 21,871 23,595 $ 21,298
Costs to Fulfill Contracts      
Capitalized Contract Cost [Roll Forward]      
Beginning balance 175,968 189,448  
Additions 17,301 28,588  
Amortization (37,094) (39,444) (38,000)
Impairment (9,562) (2,405)  
Other (901) (219)  
Ending balance 145,712 175,968 $ 189,448
Contract cost impairment loss 9,562 $ 2,405  
Costs to Fulfill Contracts | One Customer      
Capitalized Contract Cost [Roll Forward]      
Impairment (4,000)    
Contract cost impairment loss 4,000    
Costs to Fulfill Contracts | Other Customer      
Capitalized Contract Cost [Roll Forward]      
Other impairments $ 6,000