Revenue Recognition - Additional Information (Details) - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Disaggregation Of Revenue [Line Items]
Impairment losses on contract assets	$ 0	$ 0	$ 0	$ 0
Contract Fulfilment or Customer-owned Tooling Costs
Disaggregation Of Revenue [Line Items]
Impairment losses on deferred contract costs	0	0	0	0
Vocational \| Pierce
Disaggregation Of Revenue [Line Items]
Interest charges on customer advances	$ 9,200,000	$ 6,000,000	$ 18,000,000	$ 12,300,000

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

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Amount of expense (reversal of expense) for expected credit loss on right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

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