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Revenue Recognition - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Contract Fulfilment or Customer-owned Tooling Costs |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Impairment losses on contract assets | $ 0 | $ 0 | $ 0 | $ 0
Fire & Emergency |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Interest charges on customer advances | 6,000,000.0 | 4,400,000 | 11,000,000.0 | 8,900,000
Impairment losses on contract assets | $ 0 | $ 0 | $ 0 | $ 0

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- Definition Amount of impairment loss for asset recognized from cost incurred to obtain or fulfill contract with customer. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 340 -SubTopic 40 -Section 50 -Paragraph 3 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123353750&loc=SL49131252-203054 + Details
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- Definition The interest expense recognized during the period on customer deposits or security deposits held in interest bearing accounts. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.8) -URI http://asc.fasb.org/extlink&oid=123367319&loc=SL114868664-224227 + Details
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