Revenue Recognition - Additional Information (Details) - USD ($)	3 Months Ended	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Jun. 30, 2021	Dec. 31, 2020	Mar. 31, 2021
Revenue from Contract with Customer [Abstract]
Contract assets	$ 18,638,000	$ 18,638,000	$ 3,327,000	$ 5,000,000.0
Contract assets recognized during the period	14,200,000	$ 15,300,000
Contract assets billed during period	$ 600,000		$ 0