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Revenue - Contract Balances (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Unbilled receivables (contract assets) $ 33,009 $ 22,444
Unbilled receivables (contract assets), $ Change $ 10,565  
Unbilled receivables (contract assets), % Change 47.00%  
Contract liabilities $ (39,865) (55,076)
Contract liabilities, $ Change $ 15,211  
Contract liabilities, % Change (28.00%)  
Net contract liabilities $ (6,856) (32,632)
Net contract liabilities, $ Change $ 25,776  
Net contract liabilities, % Change (79.00%)  
Customer advances $ 12,750 $ 16,971
Revenue recognized 100.00% 85.00%