Interim Financial Statements (Details) $ / shares in Units, $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($) installment $ / shares	Mar. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Long-term finance lease liabilities	$ 49,700		$ 47,800
Unbilled receivables	229,800		260,800
Contract liabilities	123,600		135,500
Deferred revenue and customer advances	67,439		$ 71,117
Revenue recognized	$ 18,900	$ 21,500
RSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting installments | installment	3
PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting period	3 years
EPS PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Percentage of total awards granted	50.00%
rTSR PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting period	3 years
Percentage of total awards granted	50.00%
Risk free interest rate	4.33%
Annualized average volatility rate	46.77%
Weighted average grant date fair value (in dollars per share) | $ / shares	$ 27.07
Minimum
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Revenue expected timing of satisfaction, period	1 year
Minimum | EPS PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting rights, percentage	0.00%
Minimum | rTSR PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting rights, percentage	0.00%
Maximum
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Revenue expected timing of satisfaction, period	5 years
Maximum | EPS PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting rights, percentage	225.00%
Maximum | rTSR PSUs
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Award vesting rights, percentage	150.00%