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Revenue - Summary of Total Receivables, Net (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Billed receivables $ 132,644 $ 179,177
Allowance for doubtful accounts (3,338) (3,912)
Billed receivables, net 129,306 175,265
Current accrued receivables, net 151,080 167,614
Long-term accrued receivables, net 199,590 215,772
Total accrued receivables, net 350,670 383,386
Total receivables, net $ 479,976 $ 558,651