Revenue - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Unbilled receivables (contract assets)	$ 36,401		$ 36,401		$ 33,522
Unbilled receivables (contract assets), $ Change			$ 2,879
Unbilled receivables (contract assets), % Change			9.00%
Contract liabilities	(19,868)		$ (19,868)		(25,374)
Contract liabilities, $ Change			$ 5,506
Contract liabilities, % Change			(22.00%)
Net contract assets	16,533		$ 16,533		8,148
Net contract assets, $ Change			$ 8,385
Net contract assets, % change			103.00%
Customer advances	$ 10,242		$ 10,242		$ 9,364
Revenue recognized	40.00%	15.00%	90.00%	55.00%

Contract with Customer, Asset (Liability), Percent Change

No definition available.

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- 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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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 https://asc.fasb.org/extlink&oid=126920106&loc=SL49130551-203045

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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 https://asc.fasb.org/extlink&oid=126919976&loc=SL49130531-203044

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
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-Section 45
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-URI https://asc.fasb.org/extlink&oid=126919976&loc=SL49130533-203044

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
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-Section 50
-Paragraph 8
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130549-203045

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- 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 https://asc.fasb.org/extlink&oid=126919976&loc=SL49130531-203044

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
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-Section 50
-Paragraph 8
-Subparagraph (a)
-URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130549-203045

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 2
-URI https://asc.fasb.org/extlink&oid=126919976&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 https://asc.fasb.org/extlink&oid=126920106&loc=SL49130551-203045

+ Details

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- References

No definition available.

+ Details

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