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Revenues - Contract assets (Details) - USD ($)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Revenue from Contract with Customer [Abstract]    
Contract with customer, liability $ 0 $ 0
Change in Contract with Customer, Asset [Roll Forward]    
Beginning balance 6,400,000 5,300,000
Contract asset additions 3,900,000 3,800,000
Reclassification to accounts receivable, billed to customers (4,100,000) (3,100,000)
Ending balance $ 6,200,000 $ 6,000,000.0