Revenue - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Costs in excess of billings	$ 41,732	$ 54,437	$ 26,915
Contract with customer liability	(4,572)	(3,681)	(21,325)
Billings in excess of cost
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract with customer liability	$ (35,017)	$ (46,711)	$ (34,702)