Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Dec. 31, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 33,030	$ 26,828
Contract with customer, asset, allowance for credit loss, current	338	0
Debt issuance costs	$ 445	$ 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)	59,590,422	57,443,282
Common stock, shares outstanding (in shares)	32,912,012	33,490,526
Treasury stock (in shares)	26,678,410	23,952,756