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Revenue Recognition - Additional Information (Details) - USD ($) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Sep. 30, 2021
Disaggregation Of Revenue [Line Items] |  |  |  |
Deferred contract related costs |  | $ 710,700,000 | $ 415,800,000 |
Fire & Emergency |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Impairment losses on contract assets | $ 0 | 0 | 0 | $ 0
Interest charges on customer advances | $ 4,600,000 | $ 25,900,000 | $ 23,400,000 | $ 17,200,000
Customer Concentration Risk | Sales Revenue, Net | Defense | DoD |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |
Concentration Risk, Percentage | 93.00% | 84.00% | 95.00% | 95.00%

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