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Revenue - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Contract assets $ 31,207 $ 33,613
Balance as of December 31, 2022 3,243 $ 6,781
Contract assets transferred to receivables 3,696  
Increase in billings in excess of cost, excluding revenue recognized 1,983  
Revenue recognized from contract liability $ 3,443