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Revenue Recognition - Additional Details (Details) $ / shares in Units, $ in Millions | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 USD ($) | Jun. 30, 2022 USD ($) $ / shares | Jun. 30, 2023 USD ($) segment | Jun. 30, 2022 USD ($) $ / shares
Revenue from Contract with Customer [Abstract] |  |  |  |
Number of reportable segments | segment |  |  | 2 |
Net changes in estimate that resulted in increases (decreases) in revenue | $ 5.2 | $ 2.1 | $ 13.0 | $ (3.1)
Increase in cost operations |  | 2.2 |  | 2.2
Net changes in estimate that resulted in a decrease in operating income |  | $ 11.3 |  | $ 11.3
Net changes in estimate that resulted in a decrease in earnings per share | $ / shares |  | $ 0.09 |  | $ 0.09
Revenue recognized from advance billings on contracts | 29.7 | $ 38.6 | 69.2 | $ 77.3
Revenue, remaining performance obligation, amount | $ 4,115.0 |  | $ 4,115.0 |
Revenue, remaining performance obligation, percentage | 58.00% |  | 58.00% |

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- Definition Contract with Customer, Liability, Cumulative Catch-up Adjustment to Revenue, Change in Earnings Per Share + References No definition available. + Details
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- Definition Cumulative Effect Of Contract Change, Cost Of Operations + References No definition available. + 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 -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 10 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-10 + Details
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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from contract modification which (increases) decreases obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 10 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-10 + Details
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- Definition Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 8 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-8 + Details
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- Definition Number of segments reported by the entity. A reportable segment is a component of an entity for which there is an accounting requirement to report separate financial information on that component in the entity's financial statements. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 18 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-18 + Details
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