Incremental Costs to Obtain a Contract with a Customer (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020	Dec. 31, 2020
Capitalized Contract Cost [Line Items]
Capitalized incremental costs to obtain a contract	$ 9,900	$ 10,800
Commission and incentive payments
Capitalized Contract Cost [Line Items]
Total deferred costs	72,786		$ 77,716
Commission and incentive payments | Deferred costs included in prepaid and other current assets
Capitalized Contract Cost [Line Items]
Total deferred costs	45,273		54,516
Commission and incentive payments | Deferred costs included in other assets
Capitalized Contract Cost [Line Items]
Total deferred costs	27,513		$ 23,200
Deferred commissions
Capitalized Contract Cost [Line Items]
Amortization expense	$ 13,700	$ 14,100