Revenue - Schedule of Contract Balances (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Short-term contract assets (included in Prepaid expenses and other current assets)	$ 4,453	$ 547
Short-term contract liabilities (included in Other accrued liabilities)	(17,267)	(47,960)
Long-term contract liabilities (included in Noncurrent contract liabilities)	(2,794)	(3,181)
Net contract liabilities	$ (15,608)	$ (50,594)