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Revenue - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Revenue from Contract with Customer [Abstract]      
Revenue from Contract with Customer, Percentage of Revenues Derived From Services Provided 90.00%    
Percentage of revenues derived from other sources 10.00%    
Net increase to revenue for adjustments to fixed price contracts $ 1,800,000 $ 1,500,000 $ (800,000)
Remaining performance obligations 349,800,000    
Remaining performance obligation expected to be recognized in next 12 months, percentage 0.85    
Disaggregation of Revenue [Line Items]      
Revenue recognized related to contract liabilities 18,900,000 20,000,000  
Contract costs $ 600,000 $ 1,600,000  
Minimum [Member]      
Disaggregation of Revenue [Line Items]      
Revenue from Contract with Customer, Collection Period 60 days    
Maximum [Member]      
Disaggregation of Revenue [Line Items]      
Revenue from Contract with Customer, Collection Period 120 days