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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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Accounts Receivable, Allowance For Credit Loss, Percentage Of Total Accounts Receivable

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