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Contract balances (Details 2) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]      
Contract assets $ 185,289 $ 125,742 $ 104,345
Change in contract assets 59,547 21,397  
Contract liabilities - current (208,204) (179,140) (158,603)
Change in contract liabilities - current (29,064) (20,537)  
Contract liabilities - noncurrent (6) (118) (52)
Change in contract liabilities - noncurrent 112 (66)  
Net contract liabilities (22,921) (53,516) $ (54,310)
Change in net contract assets (liabilities) 30,595 794  
Amounts included in contract liability at the beginning of the period 173,800 155,000  
Amounts from performance obligations satisfied in prior periods $ 57,900 $ 66,300