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Related Party Transactions (Details) - Corporate Joint Venture - USD ($)
$ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Dec. 31, 2012
Jun. 30, 2021
Dec. 31, 2015
Green Power      
Related Party Transaction [Line Items]      
Investment amount with related party $ 0.9    
Percent of noncontrolling interest 50.00%    
Green Power | MAT-PSI Holdings, LLC      
Related Party Transaction [Line Items]      
Ownership interest 100.00%    
Doosan-PSI, LLC      
Related Party Transaction [Line Items]      
Investment amount with related party     $ 1.0
Percent of noncontrolling interest     50.00%
Cash distribution from joint venture   $ 2.2