Factoring Arrangements - Additional Information (Details) $ in Millions		3 Months Ended			6 Months Ended
	Mar. 09, 2021 USD ($) Installment	Jun. 30, 2021 USD ($)	Mar. 31, 2021 USD ($) Installment	Jun. 30, 2020 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2020 USD ($)	Dec. 31, 2020
Factored accounts receivable, description					Certain of the Company’s wholly-owned subsidiaries have entered into accounts receivable factoring arrangements with a financial institution (the “Factor”) with termination dates that started in September 2021 but automatically renew for successive one-year periods (absent either party's written election to terminate, which has not occurred). Pursuant to the terms of the agreements, the Company, from time to time, sells to the Factor certain of its accounts receivable balances on a recourse basis for credit-approved accounts. The Factor remits 95% of the contracted accounts receivable balance for a given month to the Company (the “Advance Amount”) with the remaining balance, less fees, to be forwarded once the Factor collects the full accounts receivable balance from the customer.
Factor remits percentage of contracted accounts receivable					95.00%
Financing costs of floor interest rate					4.00%
Financing costs of interest rate		2.00%			2.00%
Factor fee		0.25%			0.25%
Factored receivables, financing fees		$ 0.2		$ 0.4	$ 0.5	$ 1.5
Letter of Intent and Memo of Understanding [Member] | Factoring Arrangements [Member]
Repayment of factor advances	$ 11.0		$ 11.0
Amount retained to reduce outstanding principal amount of factoring advances	$ 6.9		$ 6.9
Number of installments for repayment | Installment	48		48
Frequency of payments	monthly		monthly
Date of first required payment	Jan. 01, 2022		Jan. 01, 2022
Funds held in reserve against advances	$ 0.8		$ 0.8
Prime Rate [Member]
Financing costs of interest rate		6.00%			6.00%		6.00%