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Revenue Recognition - Additional Information (Details) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Revenue from Contract with Customer [Abstract] |  |  |  |
Contract liability revenue recognized | $ 100,000 |  | $ 8,600,000 |
Impairment losses on contract assets | 0 | $ 0 | 0 | $ 0
Transaction price allocated to uncompleted contracts | $ 94,900,000 |  | $ 94,900,000 |
Minimum |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |
Payment terms (in days) |  |  | 30 days |
Maximum |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |
Payment terms (in days) |  |  | 60 days |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-10-01 |  |  |  |
New Accounting Pronouncements or Change in Accounting Principle [Line Items] |  |  |  |
Expected time of revenue recognition (in months) |  |  | 18 months |

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- Definition Amount of impairment loss for asset recognized from cost incurred to obtain or fulfill contract with customer. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 340 -SubTopic 40 -Section 50 -Paragraph 3 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123353750&loc=SL49131252-203054 + 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 -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130549-203045 + Details
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- Definition Amount of transaction price allocated to performance obligation that has not been recognized as revenue. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130556-203045 + Details
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- Definition Description of when remaining performance obligation is expected to be recognized as revenue. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (b)(2) -URI http://asc.fasb.org/extlink&oid=123351226&loc=SL49130556-203045 + Details
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