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Disaggregation of Revenue and Contract Balances - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Disaggregation Of Revenue [Abstract]    
Revenue from contracts classified as lump sum 91.60%  
Revenue from exclusively time and material contracts 8.40%  
Remaining performance obligations $ 94.8  
Contract with customer, liability, revenue recognized $ 0.9 $ 2.9