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Revenue and Accounts Receivable - Contract Balances (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Contract with Customer, Asset, Net, Current [Roll Forward]    
Contract with Customer, Receivable, Net, Current $ 385,131 $ 351,668
Contract with Customer, Receivable, Current, Net Increase (Decrease) (62,312) (33,678)
Contract with Customer, Receivable, Net, Current 322,819 317,990
Contract with Customer, Asset, Gross, Current 110,468 14,092
Contract with Customer, Contract Asset, Current, Net Increase (Decrease) (57,514) 51,177
Contract with Customer, Asset, Gross, Current 52,954 65,269
Contract with Customer, Asset, Net, Noncurrent [Roll Forward]    
Contract with Customer, Receivable, Net, Noncurrent 64,139 87,764
Contract with Customer, Receivable, NonCurrent, Net Increase (Decrease) (375) (24,418)
Contract with Customer, Receivable, Net, Noncurrent 63,764 63,346
Contract with Customer, Asset, Gross, Noncurrent 8,028 12,945
Increase (Decrease) in Contract Receivables, Net 9,910 (11,407)
Contract with Customer, Asset, Gross, Noncurrent 17,938 1,538
Contract with Customer, Liability, Current [Roll Forward]    
Contract with Customer, Liability, Current 5,071 9,257
Contract with Customer, Liability, Current, Net Increase (Decrease) 957 366
Contract with Customer, Liability, Current 6,028 9,623
Contract with Customer, Liability, Noncurrent [Roll Forward]    
Contract with Customer, Liability, Noncurrent 0 147
Contract with Customer, Liability, Noncurrent, Net Increase (Decrease) 0 0
Contract with Customer, Liability, Noncurrent $ 0 $ 147