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Revenue from Contracts with Customers - Contract Assets and Liabilities (Details) - USD ($) | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Contract Assets |  |  |
Costs and estimated earnings in excess of billings, less allowance for credit losses | $ 30,118,000 |  | $ 28,084,000
Costs and estimated earnings in excess of billings, less allowance for credit losses | 30,118,000 |  | 28,084,000
Contract Liabilities |  |  |
Billings in excess of costs and estimated earnings and deferred revenue | 1,131,928,000 |  | $ 909,538,000
Impairment losses | 0 | $ 0 |
Revenue related to our contract liabilities | $ 547,500,000 | $ 341,900,000 |

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