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Revenue Recognition - (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2022
Oct. 01, 2021
Dec. 31, 2021
Capitalized Contract Cost [Line Items]      
Unearned revenue $ 1,000    
Change in unearned revenue (2,191) $ 650  
Accounts receivable, trade      
Capitalized Contract Cost [Line Items]      
Accounts receivable, trade 229,171   $ 213,584
Change in accounts receivable, trade $ 15,587    
Contract asset percent change 7.00%    
Unbilled receivables      
Capitalized Contract Cost [Line Items]      
Unbilled receivables $ 9,654   7,961
Change in unbilled receivables $ 1,693    
Contract asset percent change 21.00%    
Unearned revenue      
Capitalized Contract Cost [Line Items]      
Unearned revenue $ 6,596   $ 7,770
Change in unearned revenue $ (1,174)    
Contract liability percent change (15.00%)