Revenue - Contract Balances (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Contract with Customer, Asset, Net, Current [Roll Forward]
Contract with Customer, Receivable, Net, Current	$ 296,355	$ 309,075
Contract with Customer, Receivable, Current, Net Increase (Decrease)	71,991	(12,720)
Contract with Customer, Receivable, Net, Current	368,346	296,355
Contract with Customer, Asset, Gross, Current	31,525	2,833
Contract with Customer, Contract Asset, Current, Net Increase (Decrease)	(2,198)	28,692
Contract with Customer, Asset, Gross, Current	29,327	31,525
Contract with Customer, Asset, Net, Noncurrent [Roll Forward]
Contract with Customer, Receivable, Net, Noncurrent	63,554	60,948
Contract with Customer, Receivable, NonCurrent, Net Increase (Decrease)	7,421	2,606
Contract with Customer, Receivable, Net, Noncurrent	70,975	63,554
Contract with Customer, Asset, Gross, Noncurrent	2,504	541
Increase (Decrease) in Contract Receivables, Net	2,779	1,963
Contract with Customer, Asset, Gross, Noncurrent	5,283	2,504
Contract with Customer, Liability, Current [Roll Forward]
Contract with Customer, Liability, Current	2,492	4,016
Contract with Customer, Liability, Current, Net Increase (Decrease)	6,881	(1,524)
Contract with Customer, Liability, Current	9,373	2,492
Contract with Customer, Liability, Noncurrent [Roll Forward]
Contract with Customer, Liability, Noncurrent	615	1,731
Contract with Customer, Liability, Noncurrent, Net Increase (Decrease)	(468)	(1,116)
Contract with Customer, Liability, Noncurrent	$ 147	$ 615