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Revenue - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Disaggregation of Revenue      
Revenue recognized $ 98,794 $ 116,080  
Contract assets - net 34,268   $ 36,179
Contract with customer, liability 3,682   $ 3,235
Contract assets transferred to receivables 11,607    
Cash proceeds from liability contract 1,957    
Revenue recognized from contract liability $ 1,441 $ 676  
Over time      
Disaggregation of Revenue      
Customer revenue transferred (percentage) 30.70% 25.30%  
Revenue recognized $ 30,303 $ 29,372  
Over time | Performance Based      
Disaggregation of Revenue      
Revenue recognized 19,322 21,108  
Over time | Delivery Based      
Disaggregation of Revenue      
Revenue recognized $ 10,981 $ 8,264  
Point in time      
Disaggregation of Revenue      
Customer revenue transferred (percentage) 69.30% 74.70%  
Revenue recognized $ 68,491 $ 86,708