Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Total contract assets	$ 3,900		$ 3,900		$ 3,100
Contract with Customer, Liability, Revenue Recognized, Including Opening Balance	7,000	$ 4,000	10,000	$ 6,000
Total advances on contracts	4,200		4,200		$ 4,100
Revenues	$ 481,052	$ 468,674	$ 933,849	$ 915,939