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Contract Balances (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Dec. 31, 2019
Jan. 01, 2019
Change in Contract with Customer, Asset and Liability [Abstract]        
Revenue recognized that was included in the contract liability balance at the beginning of the period $ (21,133) $ (15,414)    
Contract with Customer, Asset and Liability [Abstract]        
Contract assets balance 13,841   $ 14,894 $ 9,330
Contract liabilities - current 61,508   44,001 36,461
Contract liabilities - non-current $ 10,363   $ 9,121 $ 9,382