Contract Assets, Contract Costs and Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jul. 01, 2022	Jun. 30, 2023	Jul. 01, 2022	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets	$ 106,381		$ 106,381		$ 113,182
Contract assets, change			$ (6,801)
Contract assets, change (as percent)			(6.00%)
Capitalized Contract Cost, Net, Current	481		$ 481		695
Capitalized costs, current portion, change			$ (214)
Capitalized costs, current portion, change (as percent)			(30.80%)
Capitalized Contract Cost, Net, Noncurrent	643		$ 643		673
Capitalized costs, noncurrent portion, change			$ (30)
Capitalized costs, noncurrent portion, change (as percent)			(4.50%)
Contract liabilities, current portion	7,826		$ 7,826		4,081
Contract liabilities, current portion, change			$ 3,745
Contract liabilities, current portion, change (as percent)			91.80%
Contract liabilities, noncurrent portion	19,624		$ 19,624		20,515
Contract liabilities, noncurrent portion, change			$ (891)
Contract liabilities, noncurrent portion, change (as percent)			(4.30%)
Capitalized contract cost, amortization	100	$ 200	$ 200	$ 300
Revenue recognized related to contract liabilities	100	$ 700	600	$ 1,200
Contract Changes Negotiated Settlements and Claims [Member]
Disaggregation of Revenue [Line Items]
Contract assets	0		0		0
Costs to Fulfill [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	1,100		1,100		1,400
Costs to Obtain [Member]
Disaggregation of Revenue [Line Items]
Capitalized Contract Cost, Net	$ 0		$ 0		$ 0