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Significant agreements - Revenue recognition due to changes in contract assets and liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Significant Agreements    
Revenue recognized based on proportional performance $ 1,652 $ 1,129
Revenue recognized based on changes in transaction price 156  
Total $ (1,808) $ (1,129)