Revenue Recognition - Schedule of Deferred Contract Assets and Deferred Contract Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Deferred contract assets included in:
Deferred contract assets	$ 83,946	$ 83,685
Deferred contract liabilities included in:
Deferred contract liabilities	106,868	107,334
Other current assets
Deferred contract assets included in:
Other current assets	28,219	28,121
Other non-current assets
Deferred contract assets included in:
Other non-current assets	55,727	55,564
Other current liabilities
Deferred contract liabilities included in:
Other current liabilities	36,141	36,335
Other non-current liabilities
Deferred contract liabilities included in:
Other non-current liabilities	$ 70,727	$ 70,999