Revenue from Contracts with Customers - Contract Balances (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Contract assets	$ 158,861	$ 154,144	$ 103,737
Change in contract assets	4,717	50,407
Contract liabilities - current	(202,144)	(168,361)	(146,792)
Change in contract liabilities - current	(33,783)	(21,569)
Contract liabilities - noncurrent	(291)	(6)	(118)
Change in contract liabilities - noncurrent	(285)	112
Net contract assets (liabilities)	(43,574)	(14,223)	$ (43,173)
Change in net contract assets (liabilities)	(29,351)	28,950
Contract with customer, liability, revenue recognized	167,700	143,600
Amounts from performance obligations satisfied in prior periods	$ 45,700	$ 46,900