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Revenue - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Disaggregation of Revenue [Line Items]      
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 $ (800,000) $ 1,800,000 $ 1,500,000
Remaining performance obligations 316,100,000    
Remaining performance obligation expected to be recognized in next 12 months, percentage 0.85    
Revenue recognized related to contract liabilities 14,500,000 18,900,000  
Contract costs $ 600,000 $ 600,000