Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Apr. 01, 2022	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets	$ 116,168		$ 113,182
Contract assets, change	$ 2,986
Contract assets, change (as percent)	2.60%
Capitalized Contract Cost, Net, Current	$ 531		695
Capitalized costs, current portion, change	$ (164)
Capitalized costs, current portion, change (as percent)	(23.60%)
Capitalized Contract Cost, Net, Noncurrent	$ 693		673
Capitalized costs, noncurrent portion, change	$ 20
Capitalized costs, noncurrent portion, change (as percent)	3.00%
Contract liabilities, current portion	$ 6,044		4,081
Contract liabilities, current portion, change	$ 1,963
Contract liabilities, current portion, change (as percent)	48.10%
Contract liabilities, noncurrent portion	$ 20,329		20,515
Contract liabilities, noncurrent portion, change	$ (186)
Contract liabilities, noncurrent portion, change (as percent)	(0.90%)
Capitalized contract cost, amortization	$ 100	$ 100
Revenue recognized related to contract liabilities	500	$ 500
Contract Changes Negotiated Settlements and Claims [Member]
Disaggregation of Revenue [Line Items]
Contract assets	0		0
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	1,200		1,400
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 0		$ 0