Condensed Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 34,535	$ 26,828
Contract with customer, asset, allowance for credit loss, current	404	0
Senior term loan, debt issuance costs	$ 482	$ 593
Common stock, par value (in usd per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	250,000,000	250,000,000
Common stock, shares issued (in shares)	57,469,391	57,443,282
Common stock, shares outstanding (in shares)	30,903,450	33,490,526
Treasury stock (in shares)	26,565,941	23,952,756