Revenue - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Asset recognized related to incremental costs of obtaining a contract	$ 0	$ 0
Costs in excess of billings	41,732,000	54,437,000	$ 26,915,000
Unearned revenue	4,572,000	3,681,000	21,325,000
Revenue recognized which was in contract liabilities	44,400,000	53,000,000	57,800,000
Billings in excess of cost
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Unearned revenue	$ 35,017,000	$ 46,711,000	$ 34,702,000
Minimum
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract payment terms	30 days
Maximum
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract payment terms	60 days
Remaining performance obligation expected timing of satisfaction	1 year