Contract Assets and Liabilities - Summary of contract liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Contractors [Line Items]
Deferred revenue	$ 218,106		$ 223,654
Accrued loss provision	2,648		3,401
Contract liabilities	220,754		$ 227,055
Contract liabilities, Change	(6,312)	$ (4,470)
Change
Contractors [Line Items]
Deferred revenue, Change	(5,548)
Accrued loss provision, Change	(753)
Contract liabilities, Change	$ (6,301)