Intangible Assets and Liabilities - Gross Carrying Amount and Accumulated Amortization (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	$ 917,178	$ 905,134	$ 928,422
Accumulated amortization	(870,896)	(840,193)
Total intangible assets subject to amortization	46,282	64,941
Finite-lived intangible liabilities, gross	(23,900)	(23,900)	$ (23,900)
Finite-lived intangible liabilities, accumulated accretion	23,900	23,900
Finite-lived intangible liabilities, net	0	0
Core-developed technology
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	502,010	498,601
Accumulated amortization	(499,571)	(492,782)
Total intangible assets subject to amortization	2,439	5,819
Customer contracts and relationships
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	329,688	322,360
Accumulated amortization	(287,653)	(265,503)
Total intangible assets subject to amortization	42,035	56,857
Trademarks and trade names
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	73,461	72,156
Accumulated amortization	(71,740)	(70,101)
Total intangible assets subject to amortization	1,721	2,055
Other
Finite-Lived Intangible Assets [Line Items]
Finite-lived intangible assets, gross	12,019	12,017
Accumulated amortization	(11,932)	(11,807)
Total intangible assets subject to amortization	$ 87	$ 210