Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Statement of Financial Position [Abstract]
Accounts receivable, allowance for credit loss	$ 19,365	$ 33,030
Contract with customer, asset, allowance for credit loss	$ 114	$ 338
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)	60,643,781	59,590,422
Common stock, shares outstanding (in shares)	33,965,371	32,912,012
Treasury stock (in shares)	26,678,410	26,678,410