Here is the answer to your question from our Iowa State Extension and Outreach entomologist.

Thank you for your message and thanks for asking. The large dark bug (Order Hemiptera) with the orange-tipped antennae is called Acanthocephala terminalis. There is not common name for this moderately common insect.

This is one of approximately 88 North American species in the True Bug Family Coreidae. All members of this family are called the leaf-footed bugs because of the flattened wide section of the hind tibia that is more or less prominent. Acanthocephala terminalis has a narrower tibia than some of the leaf-footed bugs.

The leaf-footed bugs all feed on plant sap. The specimen is not a pest like it’s relative the squash bug. No control is needed.

Here is a link to technical information about this insect.

https://bugguide.net/node/view/16391
Species Acanthocephala terminalis - BugGuide.Net
Apical segment of antenna orange or yellowish, contrasting sharply with the dark segments 1-3; metatibial flange wavy-margined, narrowing distally and extending only two-thirds the length of the tibia; pronotum covered with golden hairs and with small but distinct tubercles; abdomen sinuate in outline, the sides of the abdomen bulging outward beyond the wings when viewed from above.
bugguide.net