Revenue - Narrative (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Revenue From Contract With Customer [Abstract]
Negotiable cost reductions cares act	$ 3,100,000	$ 4,300,000	$ 9,200,000	$ 21,900,000
Performance obligation unsatisfied or partially satisfied	181,000,000.0		181,000,000.0
Impairment charges	0	0	0	0
Cost of contracts net of accumulated amortization	3,700,000		3,700,000		$ 3,800,000
Contract cost, accumulated impairment	$ 0	$ 0	$ 0	$ 0