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Revenue Recognition - Additional details (Details) - USD ($) $ / shares in Units, $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2022 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Net favorable changes in estimates resulting in increased revenues |  | $ 26.6 | $ 30.7 | $ 44.9
Increase in cost of operations |  | 2.2 | 4.2 | $ 2.1
Decrease in operating income | $ (11.3) | $ 11.3 |  |
Decrease in earnings per share (in USD per share) |  | $ 0.09 |  |
Decrease in receivables billed |  | $ 7.4 |  |
Revenue recognized from advance billings on contracts |  | 22.9 |  |
Advanced billings revenue recognized |  | 91.9 | $ 67.5 |
Revenue, remaining performance obligation, amount |  | $ 4,144.3 |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01 |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Revenue, remaining performance obligation, percentage |  | 42.00% |  |
Revenue, remaining performance obligation, expected timing of satisfaction |  | 1 year |  |

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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price 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. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained. + 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 + Details
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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in estimate of transaction price which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. Includes, but is not limited to, change in assessment of whether estimate of variable consideration is constrained. + 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 + Details
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