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Revenue Recognition - Schedule of Net Under (Over) Billings (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
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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