Contract Receivables, Net - Additional Information (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Contract Receivables [Line Items]
Billed receivables	$ 238,449,000	$ 245,425,000
Master Receivables Purchase Agreement with MUFG Bank [Member]
Contract Receivables [Line Items]
Billed receivables sold	10,000,000.0
Master Receivables Purchase Agreement with MUFG Bank [Member] \| Maximum
Contract Receivables [Line Items]
Discount on sale of receivables	$ 100,000

Amounts due for billed services rendered or to be rendered, actions taken or to be taken, or a promise to refrain from taking certain actions in accordance with the terms of a legally binding agreement between the Company and, at a minimum, one other party. An example would be amounts billed to customers under contracts or programs but not paid as of the balance sheet date.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 912
-SubTopic 310
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=126938201&loc=d3e55302-109406

Name:	us-gaap_BilledContractReceivables
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant