Revenue Recognition - Additional Information (Details) - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Contract Fulfilment or Customer-owned Tooling Costs
Disaggregation Of Revenue [Line Items]
Impairment losses on contract assets	$ 0	$ 0	$ 0	$ 0
Fire & Emergency
Disaggregation Of Revenue [Line Items]
Interest charges on customer advances	6,000,000.0	4,400,000	11,000,000.0	8,900,000
Impairment losses on contract assets	$ 0	$ 0	$ 0	$ 0

Amount of impairment loss for asset recognized from cost incurred to obtain or fulfill contract with customer.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 340
-SubTopic 40
-Section 50
-Paragraph 3
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=123353750&loc=SL49131252-203054

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

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- Definition

The interest expense recognized during the period on customer deposits or security deposits held in interest bearing accounts.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 220
-SubTopic 10
-Section S99
-Paragraph 2
-Subparagraph (SX 210.5-03.8)
-URI http://asc.fasb.org/extlink&oid=123367319&loc=SL114868664-224227

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