Revenue - Schedule of Total Receivables, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue from Contract with Customer [Abstract]
Billed receivables	$ 250,423	$ 218,611
Allowance for doubtful accounts	(4,295)	(3,779)	$ (2,861)	$ (3,912)
Billed receivables, net	246,128	214,832
Current accrued receivables, net	206,209	188,949
Long-term accrued receivables, net	313,983	297,818
Total accrued receivables, net	520,192	486,767
Total receivables, net	$ 766,320	$ 701,599