Contracts with Customers - Summary of Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Revenue From Contract With Customer [Abstract]
Contract assets	$ 568,239	$ 576,568
Contract liabilities	196,547	201,864
Net contract assets (liabilities)	371,692	$ 374,704
Change in contract assets	(8,329)
Change in contract liabilities	(5,317)
Change in contract assets and liabilities	$ (3,012)
Percentage change in contract assets	(1.40%)
Percentage change in contract liabilities	(2.60%)
Percentage change in contract assets and liabilities	(0.80%)