Disaggregation of Revenue and Contract Balances - Additional Information (Details) - USD ($) $ in Millions	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Revenue from contracts classified as lump sum	89.70%	94.50%
Revenue from exclusively time and material contracts	10.30%	5.40%
Remaining performance obligations	$ 202.6
Contract with customer, liability, revenue recognized	$ 2.6	$ 1.4
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2023-04-01
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Remaining performance obligations expects to recognize	100.00%
Remaining performance obligations, expected satisfaction period	12 months