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Revenue (Tables)
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Contract Assets and Contracts Liabilities
The following table provides information about contract assets and contract liabilities from contracts with customers:
 December 31, 2023December 31, 2022December 31, 2021
Contract assets$19,561 $11,074 $11,440 
Contract liabilities - current211,292 256,933 227,549 
Contract liabilities - non-current19,544 19,879 21,513