Revenue - Contract Balances (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Contract with Customer, Asset, Net, Current [Roll Forward]
Contract with Customer, Receivable, Net, Current	$ 368,346	$ 296,355
Contract with Customer, Receivable, Current, Net Increase (Decrease)	(39,803)	13,853
Contract with Customer, Receivable, Net, Current	328,543	310,208
Contract with Customer, Asset, Gross, Current	29,327	31,525
Contract with Customer, Contract Asset, Current, Net Increase (Decrease)	25,438	(24,756)
Contract with Customer, Asset, Gross, Current	54,765	6,769
Contract with Customer, Asset, Net, Noncurrent [Roll Forward]
Contract with Customer, Receivable, Net, Noncurrent	70,975	63,554
Contract with Customer, Receivable, NonCurrent, Net Increase (Decrease)	5,011	(1,613)
Contract with Customer, Receivable, Net, Noncurrent	75,986	61,941
Contract with Customer, Asset, Gross, Noncurrent	5,283	2,504
Increase (Decrease) in Contract Receivables, Net	1,380	3,376
Contract with Customer, Asset, Gross, Noncurrent	6,663	5,880
Contract with Customer, Liability, Current [Roll Forward]
Contract with Customer, Liability, Current	9,373	2,492
Contract with Customer, Liability, Current, Net Increase (Decrease)	2,280	9,553
Contract with Customer, Liability, Current	11,653	12,045
Contract with Customer, Liability, Noncurrent [Roll Forward]
Contract with Customer, Liability, Noncurrent	147	615
Contract with Customer, Liability, Noncurrent, Net Increase (Decrease)	0	(234)
Contract with Customer, Liability, Noncurrent	$ 147	$ 381