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Revenue Recognition - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Disaggregation Of Revenue [Line Items] |  |  |  |
Impairment losses on contract assets |  |  | $ 0 | $ 0
Contract Fulfilment or Customer-owned Tooling Costs |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Impairment losses on contract assets |  |  | 0 | 0
Pierce |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Interest charges on customer advances | $ 6,000,000 | $ 6,000,000 | $ 12,300,000 | $ 11,000,000

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