Revenue - Total Receivables, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Revenue from Contract with Customer [Abstract]
Billed receivables	$ 218,611	$ 162,479
Allowance for doubtful accounts	(3,779)	(2,861)	$ (3,912)	$ (5,149)
Billed receivables, net	214,832	159,618
Current accrued receivables, net	188,949	160,787
Long-term accrued receivables, net	297,818	276,164
Total accrued receivables, net	486,767	436,951
Total receivables, net	$ 701,599	$ 596,569