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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, 2023
Mar. 31, 2022
Significant agreements    
Revenue recognized based on proportional performance $ 4,896 $ 3,819
Revenue recognized based on expiration of material rights   41
Total $ 4,896 $ 3,860