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Related Party Transactions - Schedule of Consolidated Balance Sheet Related to Services Provided to Unconsolidated Joint Ventures (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
--- | --- | ---
Related Party Transaction [Line Items] |  |
Contract assets | $ 569,294 | $ 576,568
Contract liabilities | 186,789 | 201,864
Unconsolidated Joint Ventures |  |
Related Party Transaction [Line Items] |  |
Accounts receivable | 28,799 | 37,544
Contract assets | 7,835 | 8,889
Contract liabilities | $ 9,188 | $ 5,720

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