v3.23.1
Revenue - Narrative (Details) - USD ($)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Disaggregation of Revenue [Line Items]      
Increase in contract assets from current year invoices, advanced cash payments $ 158,800,000    
Increase from netting of contract assets and liabilities on contract by contract basis 700,000    
Decrease in revenue recognized from current year invoices 102,600,000    
Revenue recognized that was included in the deferred revenue balance in prior year 50,700,000    
Revenue from remaining performance obligations 1,530,000,000    
Provision for expected credit losses, contract balances 0 $ 100,000  
Writeoffs, contract balances 0 0  
Allowance for credit loss, contract balances 100,000   $ 100,000
Provision for expected credit losses, accounts receivable 0 0  
Writeoffs, accounts receivable 0 $ 100,000  
Allowance reserve $ 700,000   $ 700,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01      
Disaggregation of Revenue [Line Items]      
Remaining performance obligation, percentage 58.00%    
Performance obligations expected to be satisfied, expected timing 24 months    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01      
Disaggregation of Revenue [Line Items]      
Remaining performance obligation, percentage 30.00%    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01 | Minimum      
Disaggregation of Revenue [Line Items]      
Performance obligations expected to be satisfied, expected timing 25 months    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01 | Maximum      
Disaggregation of Revenue [Line Items]      
Performance obligations expected to be satisfied, expected timing 48 months    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-04-01 | Maximum      
Disaggregation of Revenue [Line Items]      
Performance obligations expected to be satisfied, expected timing