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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, 2023
Dec. 31, 2022
Dec. 31, 2021
Significant agreements      
Revenue recognized based on proportional performance $ 19,160 $ 12,358 $ 9,652
Revenue recognized based on expiration of material rights 7,816 1,433 1,876
Revenue recognized based on changes in transaction price   672 169
Total $ 26,976 $ 14,463 $ 11,697