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Contracts with Customers - Additional Information (Details) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Revenue recognized included contract liability | $ 8,900,000 | $ 10,100,000 | $ 116,600,000 | $ 91,800,000
Impairment of contract assets |  |  | 0 | $ 0
Impact of changes in estimated claims or incentives on revenue |  |  | 5,000,000 |
Decrease in operating income |  |  | 12,400,000 |
Decrease in net income net of tax |  |  | $ 9,200,000 |
Decrease in earnings per share diluted | $ 0.03 |  | $ 0.08 |
Remaining unsatisfied performance obligations | $ 6,200,000,000 |  | $ 6,200,000,000 |
Critical Infrastructure |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Decrease in operating income |  |  | 3,100,000 |
Decrease in net income net of tax |  |  | $ 2,300,000 |
Decrease in earnings per share diluted |  |  | $ 0.02 |

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