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Significant agreements - Revenue recognition due to changes in contract assets and liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Significant agreements      
Revenue recognized based on proportional performance $ 12,358 $ 9,652 $ 6,326
Revenue recognized based on expiration of material rights 1,433 1,876 1,702
Revenue recognized based on changes in transaction price 672 169  
Total $ 14,463 $ 11,697 $ 8,028