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Contract Costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Contract costs      
Contract costs, net $ 37,739 $ 34,736  
Capitalized contract, amortization period 38 months 38 months  
Amortization of contract costs $ 21,289 $ 19,162 $ 19,990
Sales commissions      
Contract costs      
Contract costs, net 2,200 3,000  
Amortization of contract costs 1,900 1,900 2,200
Freight and mobilization      
Contract costs      
Contract costs, net 18,900 31,700  
Amortization of contract costs $ 19,400 $ 17,300 $ 17,800