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Revenue - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Asset recognized related to incremental costs of obtaining a contract | $ 0 | $ 0 |
Costs in excess of billings | 52,035,000 | 41,732,000 | $ 54,437,000
Unearned revenue | 3,941,000 | 4,572,000 | 3,681,000
Revenue recognized which was in contract liabilities | 35,500,000 | 44,400,000 | 53,000,000
Billings in excess of costs |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Unearned revenue | $ 44,735,000 | $ 35,017,000 | $ 46,711,000
Minimum |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract payment terms | 30 days |  |
Maximum |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract payment terms | 60 days |  |
Remaining performance obligation expected timing of satisfaction | 1 year |  |

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