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Business Segments and Geographic Information - Customer Concentration Risk (Details) - Customer Concentration Risk - Revenue Benchmark
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Various agencies of the U.S Federal Government      
Entity Wide Revenue Major Customer [Line Items]      
Percentage of revenue 58.00% 56.00% 53.00%
Minimum      
Entity Wide Revenue Major Customer [Line Items]      
Percentage of revenue 10.00%