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Investments - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Schedule of Equity Method Investments [Line Items] |  |  |
Cost method investment impairment | $ 14,588,000 | $ 0 | $ 0
Gain on sale of investments | 2,360,000 |  |
Payments to acquire cost method investments | 12,841,000 | 15,107,000 |
Cost method investments | 21,044,000 | 22,174,000 |
Worldsensing |  |  |
Schedule of Equity Method Investments [Line Items] |  |  |
Payments to acquire cost method investments | 8,928,000 |  |
Cost method investments | 8,928,000 |  |
Teralytics investment |  |  |
Schedule of Equity Method Investments [Line Items] |  |  |
Cost method investment impairment | 11,130,000 |  |
Cost method investments | 0 | 11,130,000 |
Digital Construction Works, Inc. | Equity Method Investee |  |  |
Schedule of Equity Method Investments [Line Items] |  |  |
Payments to acquire equity method investments | $ 2,261,000 | $ 2,343,000 |

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