Revenue Recognition - Additional Information (Details) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]
Receivables, included in trade receivables	$ 135,973	$ 136,332
Unbilled receivables	140,318	140,534
Performance obligation	58,100
Receivables (Included in Trade Receivables)
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]
Receivables, included in trade receivables	136,000	136,300
Unbilled receivables	$ 96,500	$ 83,200