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Contract Assets and Liabilities - Summary of Assets and Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Contractors [Line Items]      
Contract assets $ 225,075 $ 185,803  
Contract liabilities (167,931) (158,396)  
Net contract assets (liabilities) 57,144 27,407  
Changes in contract assets 39,266 $ (31,360) $ 16,443
Net Period Change      
Contractors [Line Items]      
Changes in contract assets 39,272    
Changes in contract liabilities (9,535)    
Changes in net contract assets (liabilities) $ 29,737