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Revenue - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]      
Costs in excess of billings $ 52,035 $ 41,732 $ 54,437
Contract with customer liability (3,941) (4,572) (3,681)
Billings in excess of costs      
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]      
Contract with customer liability $ (44,735) $ (35,017) $ (46,711)