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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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Amount of impairment loss for asset recognized from cost incurred to obtain or fulfill contract with customer.

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