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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, 2024
Mar. 31, 2023
Significant agreements    
Revenue recognized based on proportional performance $ 11,631 $ 4,896
Revenue recognized based on expiration of material rights 8,034  
Revenue recognized based on changes in transaction price (135)  
Total $ 19,530 $ 4,896