Description of Business and Summary of Significant Accounting Policies - Accounts Receivable and Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 156,302		$ 156,302		$ 154,533
Allowance for doubtful accounts	13,971		13,971		18,167
Non-current accounts receivable	10,512		10,512		0
Allowance for doubtful non-current accounts receivable	5,600		5,600
Bad debt expense (recovery)	1,300	$ (0)	3,104	$ 1,687
Billed Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	156,300		156,300		154,500
Unbilled Revenues
Accounts, Notes, Loans and Financing Receivable [Line Items]
Accounts receivable	$ 54,100		$ 54,100		$ 55,200