Description of Business and Summary of Significant Accounting Policies - Accounts Receivable and Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 160,707		$ 154,533
Allowance for doubtful accounts	18,078		18,167
Bad debt expense (recovery)	435	$ (360)
Billed Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	160,700		154,500
Unbilled Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 47,700		$ 55,200