Revenue - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Unbilled receivables (contract assets)	$ 37,358		$ 33,522
Unbilled receivables (contract assets), $ Change	$ 3,836
Unbilled receivables (contract assets), % Change	11.00%
Contract liabilities	$ (18,108)		(25,374)
Contract liabilities, $ Change	$ 7,266
Contract liabilities, % Change	(29.00%)
Net contract assets	$ 19,250		8,148
Net contract assets, $ Change	$ 11,102
Net contract assets, % change	136.00%
Customer advances	$ 8,442		$ 9,364
Revenue recognized	60.00%	40.00%

Contract with Customer, Asset (Liability), Percent Change

No definition available.

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Period Type:	duration

- Definition

Contract with Customer, Asset, Percent Change

+ References

No definition available.

+ Details

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- Definition

Contract with Customer, Customer Advance Liability

+ References

No definition available.

+ Details

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Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant

- Definition

Contract with Customer, Liability, Percent Change

+ References

No definition available.

+ Details

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- Definition

Contract with Customer, Liability, Revenue Recognized, Percent

+ References

No definition available.

+ Details

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- Definition

Contract with Customer, Net Asset (Liability)

+ References

No definition available.

+ Details

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- Definition

Contract with Customer, Net Asset (Liability), Cumulative Catch-up Adjustment to Revenue, Change in Measure of Progress

+ References

No definition available.

+ Details

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- Definition

Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in measure of progress which increases (decreases) right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130551-203045

+ Details

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- Definition

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044

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-Publisher FASB
-Name Accounting Standards Codification
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-Publisher FASB
-Name Accounting Standards Codification
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-Section 50
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-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045

+ Details

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Balance Type:	debit
Period Type:	instant

- Definition

Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044

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-Publisher FASB
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-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130532-203044

+ Details

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Balance Type:	credit
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- Definition

Amount of increase (decrease) in obligation to transfer good or service to customer for which consideration from customer has been received or is due, from business combination.

+ References

Reference 1: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 10
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130551-203045

+ Details

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- References

No definition available.

+ Details

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