Revenue - Narrative (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Revenue From Contract With Customer [Abstract]
Negotiable cost reductions cares act	$ 2,900,000	$ 4,200,000	$ 6,100,000	$ 17,600,000
Performance obligation unsatisfied or partially satisfied	190,400,000		190,400,000
Impairment charges	0	0	0	0
Cost of contracts net of accumulated amortization	3,500,000		3,500,000		$ 3,800,000
Contract cost, accumulated impairment	$ 0	$ 0	$ 0	$ 0