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Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022
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Contracts with Customers, Asset and Liability [Line Items] |  |
Advance billings on contracts | $ 87,772 | $ 88,726
Unbilled receivables |  |
Contracts with Customers, Asset and Liability [Line Items] |  |
Contract with customer, asset | 570,763 | 521,291
Retainages |  |
Contracts with Customers, Asset and Liability [Line Items] |  |
Contract with customer, asset | $ 54,374 | $ 48,566

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