Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Oct. 01, 2021	Sep. 30, 2022	Oct. 01, 2021	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Contract assets	$ 117,828		$ 117,828		$ 112,354
Contract assets, change			$ 5,474
Contract assets, change (as percent)			4.90%
Contract costs, current portion	822		$ 822		850
Capitalized costs, current portion, change			$ (28)
Capitalized costs, current portion, change (as percent)			(3.30%)
Contract costs, noncurrent portion	9,865		$ 9,865		10,249
Capitalized costs, noncurrent portion, change			$ (384)
Capitalized costs, noncurrent portion, change (as percent)			(3.70%)
Contract liabilities, current portion	3,932		$ 3,932		2,945
Contract liabilities, current portion, change			$ 987
Contract liabilities, current portion, change (as percent)			33.50%
Contract liabilities, noncurrent portion	20,477		$ 20,477		16,528
Contract liabilities, noncurrent portion, change			$ 3,949
Contract liabilities, noncurrent portion, change (as percent)			23.90%
Capitalized contract cost, amortization	200	$ 1,700	$ 500	$ 6,900
Revenue recognized related to contract liabilities	200	$ 18,300	1,400	$ 38,800
Contract changes, negotiated settlements and claims for unanticipated contract costs
Disaggregation of Revenue [Line Items]
Contract assets	0		0		682
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	10,700		10,700		11,100
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 0		$ 0		$ 0