Revenue - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
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	52,035,000	41,732,000	$ 54,437,000
Unearned revenue	3,941,000	4,572,000	3,681,000
Revenue recognized which was in contract liabilities	35,500,000	44,400,000	53,000,000
Billings in excess of costs
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Unearned revenue	$ 44,735,000	$ 35,017,000	$ 46,711,000
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