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Contracts with Customers - Additional Information (Details) - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Revenue recognized included contract liability $ 29,600,000 $ 18,600,000 $ 107,700,000 $ 81,700,000
Impairment of contract assets     0 $ 0
Impact of changes in estimated claims or incentives on revenue     $ 5,000,000  
Decrease in earnings per share diluted $ 0.05   $ 0.11  
Decrease in operating income $ 7,000,000   $ 17,000,000  
Decrease in net income net of tax 5,100,000   12,600,000  
Revisions estimate 20,168,000   20,339,000  
Remaining unsatisfied performance obligations $ 6,000,000,000   $ 6,000,000,000  
Critical Infrastructure        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Decrease in earnings per share diluted $ 0   $ 0.01  
Direct costs of contracts $ 24,700,000   $ 24,700,000  
Contract revenue impact net     20,700,000  
Decrease in operating income 600,000   1,100,000  
Decrease in net income net of tax $ 500,000   800,000  
Revisions estimate     $ 4,000,000