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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022
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Revenue from Contract with Customer [Abstract] |  |
Costs and estimated earnings in excess of billings on uncompleted contracts (contract assets) | $ 33,648 | $ 29,431
Billings in excess of costs and estimated earnings on uncompleted contracts (contract liabilities) | (9,915) | (8,871)
Net under billings | $ 23,733 | $ 20,560

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