Revenue - Significant Changes in Contract Assets and Contract Liabilities Balances (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Contract assets:
Beginning balance	$ 16,275	$ 11,253
Transferred to receivables from contract assets recognized at the beginning of the period	(3,313)	(2,813)
Increase due to unbilled and recognized as revenue in excess of billings during the period, net of amounts transferred to receivables	50	5,251
Ending balance	13,012	13,691
Contract liabilities:
Beginning balance	19,088	22,055
Revenue recognized that was included in the contract liabilities beginning balance	(2,374)	(1,434)
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period	697	3,327
Ending balance	$ 17,411	$ 23,948