Revenues - Narrative (Details) - USD ($)	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Concentration Risk [Line Items]
Impairment of contract assets	$ 0	$ 0
Revenue recognized, percentage	3.40%	4.00%
Revenue Recognition Timing \| Total revenue \| Transferred over-time
Concentration Risk [Line Items]
Concentration risk, percentage	75.00%	71.00%

For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
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Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 275
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
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Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef
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Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 275
-SubTopic 10
-Section 50
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-URI https://asc.fasb.org/extlink&oid=99393423&loc=d3e6404-108592

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Data Type:	dtr-types:percentItemType
Balance Type:	na
Period Type:	duration