Revenue - Schedule of Contract Balances (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Short-term contract assets (included in Prepaid expenses and other current assets)	$ 2,884	$ 547
Short-term contract liabilities (included in Other accrued liabilities)	(34,751)	(47,960)
Long-term contract liabilities (included in Noncurrent contract liabilities)	(2,640)	(3,181)
Net contract liabilities	$ (34,507)	$ (50,594)