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Contract Assets and Liabilities - Contracts in Progress (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Revenue from Contract with Customer [Abstract]    
Revenue earned on uncompleted contracts $ 752,564 $ 726,215
Less: Billings to date (766,690) (722,562)
Net underbilling (overbilling) (14,126) 3,653
Costs in excess of billings and estimated earnings 31,894 44,315
Billings in excess of costs and estimated earnings $ (46,020) $ (40,662)