Intangible Assets and Liabilities - Gross Carrying Amount and Accumulated Amortization (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	$ 905,134	$ 928,422	$ 1,000,037
Accumulated amortization	(840,193)	(835,893)
Total intangible assets subject to amortization	64,941	92,529
Finite-lived intangible liabilities, gross	(23,900)	(23,900)	$ (23,900)
Finite-lived intangible liabilities, accumulated accretion	23,900	23,441
Finite-lived intangible liabilities, net	0	(459)
Core-developed technology
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	498,601	505,429
Accumulated amortization	(492,782)	(491,047)
Total intangible assets subject to amortization	5,819	14,382
Customer contracts and relationships
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	322,360	336,421
Accumulated amortization	(265,503)	(261,043)
Total intangible assets subject to amortization	56,857	75,378
Trademarks and trade names
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	72,156	74,551
Accumulated amortization	(70,101)	(72,133)
Total intangible assets subject to amortization	2,055	2,418
Other
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	12,017	12,021
Accumulated amortization	(11,807)	(11,670)
Total intangible assets subject to amortization	$ 210	$ 351