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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($) $ in Thousands | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2021 | Dec. 31, 2020
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 167,700 | $ 171,439
Allowance for doubtful accounts | (6,260) | (8,304)
Accounts receivable, net | $ 161,440 | $ 163,135
Allowance for doubtful accounts as a percentage of total accounts receivable | 4.00% | 5.00%
Trade |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 112,077 | $ 109,294
Unbilled revenue |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | 21,523 | 23,173
Contract assets |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | 22,428 | 35,870
Other |  |
Accounts, Notes, Loans and Financing Receivable [Line Items] |  |
Accounts receivable, gross | $ 11,672 | $ 3,102

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