Description of Business and Summary of Significant Accounting Policies - Accounts Receivable and the Allowance for Doubtful Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable, after allowance for credit loss, current	$ 154,533	$ 153,609
Allowance for doubtful accounts	18,167	19,874
Bad debt expense (recovery)	1,433	(2,334)	$ 1,749
Billed Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable, after allowance for credit loss, current	99,200	103,300
Unbilled Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable, after allowance for credit loss, current	$ 55,200	$ 50,100