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Revenue Recognition - Additional Information (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Revenue from Contract with Customer [Abstract]      
Contract liability revenue recognized $ 900,000   $ 8,500,000
Impairment losses on contract assets   $ 0 0
Transaction price allocated to uncompleted contracts $ 101,000,000.0   $ 101,000,000.0
Minimum      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Payment terms     30 days
Maximum      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Payment terms     60 days
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-07-01      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]      
Expected time of revenue recognition     18 months