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Description of Business and Summary of Significant Accounting Policies - Additional Information (Details)
$ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
shares
Sep. 30, 2020
shares
Mar. 31, 2021
shares
Sep. 30, 2021
USD ($)
solution
shares
Jun. 30, 2021
USD ($)
Sep. 30, 2020
shares
Dec. 31, 2020
shares
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
ROU asset | $ $ 24,027     $ 24,027      
Present value of lease liabilities | $ $ 24,781     $ 24,781      
Number of software based advanced solutions | solution       6      
Treasury Stock, Shares, Acquired 1,200,000   3,900,000        
Treasury Stock, Shares 6,825,000     6,825,000     5,578,000
Treasury Stock, Value, Acquired, Cost Method | $ $ 11,200       $ 30,400    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period       6,000      
Treasury Stock              
New Accounting Pronouncements or Change in Accounting Principle [Line Items]              
Treasury Stock, Shares, Acquired 0 0   1,248,000   2,200,000