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Revenue - Contract balances (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Dec. 31, 2019
Contract balances    
Revenue recognized that was included in the balance sheet $ 11,900  
Contract Assets (current and non-current) 11,181 $ 10,623
Contract Liabilities (Deferred Revenue current and non-current) $ 49,382 $ 45,597
Revenue, Practical Expedient, Financing Component [true/false] true  
Minimum    
Contract balances    
The amount of time contract assets are transferred to receivables 3 years  
Maximum    
Contract balances    
The amount of time contract assets are transferred to receivables 5 years