Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Total contract assets	$ 3,700		$ 3,100
Total advances on contracts	4,000		$ 4,100
Revenue recognized	3,000	$ 2,000
Contract with Customer, Liability, Revenue Recognized	3,000	2,000
Revenues	$ 452,797	$ 447,265