Revenue - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019
Revenue from Contract with Customer [Abstract]
Revenue recognized over time	$ 396,773	$ 498,307	$ 455,937	$ 895,080	$ 917,182
Revenue recognized at a point in time	30,443	38,361	39,844	68,804	72,485
Total	$ 427,216	$ 536,668	$ 495,781	$ 963,884	$ 989,667