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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