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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