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Debt - Additional Information (Details)
12 Months Ended
Sep. 13, 2019
USD ($)
Dec. 31, 2020
USD ($)
equipment_note
Dec. 31, 2019
USD ($)
Credit Agreement | Secured Debt      
Debt Instrument [Line Items]      
Debt instrument term 5 years    
Maximum borrowing capacity $ 375,000,000    
Option to increase borrowing capacity $ 200,000,000    
Percentage of capital stock from direct foreign subsidiaries 65.00%    
Debt instrument covenant leveraged debt ratio restriction 2.50    
Debt instrument restricted maximum liquidity $ 50,000,000    
Interest rate on borrowings outstanding   2.35%  
Leverage coverage ratio 3.0    
Interest coverage ratio 3.0    
Deferred debt issuance costs   $ 1,100,000  
Credit Agreement | Secured Debt | Minimum      
Debt Instrument [Line Items]      
Commitment fee on unused capacity 0.15%    
Credit Agreement | Secured Debt | Minimum | Base Rate      
Debt Instrument [Line Items]      
Interest rate margin 0.00%    
Credit Agreement | Secured Debt | Minimum | London Interbank Offered Rate (LIBOR)      
Debt Instrument [Line Items]      
Interest rate margin 1.00%    
Credit Agreement | Secured Debt | Maximum      
Debt Instrument [Line Items]      
Commitment fee on unused capacity 0.25%    
Credit Agreement | Secured Debt | Maximum | Base Rate      
Debt Instrument [Line Items]      
Interest rate margin 0.75%    
Credit Agreement | Secured Debt | Maximum | London Interbank Offered Rate (LIBOR)      
Debt Instrument [Line Items]      
Interest rate margin 1.75%    
Credit Agreement | Secured Debt | Letter of Credit      
Debt Instrument [Line Items]      
Maximum borrowing capacity $ 150,000,000    
Letters of credit outstanding   10,400,000 $ 10,600,000
Credit Agreement | Secured Debt | Letter of Credit | Insurance Program Obligations      
Debt Instrument [Line Items]      
Letters of credit outstanding   9,800,000 10,000,000.0
Credit Agreement | Secured Debt | Letter of Credit | Contract Performance Obligations      
Debt Instrument [Line Items]      
Letters of credit outstanding   $ 600,000 $ 600,000
Credit Agreement | Secured Debt | Revolving Loans and Letters of Credit      
Debt Instrument [Line Items]      
Maximum borrowing capacity $ 75,000,000    
Credit Agreement | Secured Debt | Non-performance Letters Of Credit | Minimum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 1.00%    
Credit Agreement | Secured Debt | Non-performance Letters Of Credit | Maximum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 1.75%    
Credit Agreement | Secured Debt | Performance letters of credit | Minimum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 0.50%    
Credit Agreement | Secured Debt | Performance letters of credit | Maximum      
Debt Instrument [Line Items]      
Letter of credit facility commitment percentage 0.875%    
Master Loan Agreement | Notes Payable to Banks      
Debt Instrument [Line Items]      
Number of equipment notes | equipment_note   4