Description of Business and Summary of Significant Accounting Policies - Accounts Receivable and Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 163,166		$ 163,166		$ 154,533
Allowance for doubtful accounts	18,885		18,885		18,167
Bad debt expense (recovery)	1,400	$ 2,100	1,832	$ 1,702
Billed Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	163,200		163,200		154,500
Unbilled Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 52,800		$ 52,800		$ 55,200