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Revenues - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Jan. 01, 2018
Dec. 31, 2017
Dec. 31, 2016
Disaggregation of Revenue [Line Items]              
Cumulative effect of new accounting principle in period of adoption           $ 268  
Contract with customer, liability, current $ 35,297   $ 35,297     51,597 $ 62,700
Difference Between Work Performed On Open Contracts And Contractual Billing Terms              
Disaggregation of Revenue [Line Items]              
Changes in contract assets (liabilities)     (13,000)        
Difference Related To Customer Advances On Certain Contract              
Disaggregation of Revenue [Line Items]              
Changes in contract assets (liabilities)     $ 16,300        
Products and Services              
Disaggregation of Revenue [Line Items]              
Revenue recognized, percent 92.60% 93.30% 93.60% 93.30%      
Product              
Disaggregation of Revenue [Line Items]              
Revenue recognized, percent 7.40% 6.70% 6.40% 6.70%      
Retained Earnings              
Disaggregation of Revenue [Line Items]              
Cumulative effect of new accounting principle in period of adoption           $ 268  
Accounting Standards Update 2014-09 | Retained Earnings              
Disaggregation of Revenue [Line Items]              
Cumulative effect of new accounting principle in period of adoption         $ 300    
Difference between Revenue Guidance in Effect before and after Topic 606 | Accounting Standards Update 2014-09              
Disaggregation of Revenue [Line Items]              
Changes in revenues     $ 1,900