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Contract balances (Details 2) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]      
Contract assets $ 212,687   $ 185,289
Change in contract assets 27,398    
Contract liabilities - current (202,788)   (208,204)
Change in contract liabilities - current 5,416    
Contract liabilities - noncurrent (442)   (6)
Change in contract liabilities - noncurrent (436)    
Net contract assets (liabilities) 9,457   $ (22,921)
Change in net contract assets (liabilities) 32,378    
Amounts included in contract liability at the beginning of the period 154,900 $ 121,800  
Contract with Customer, Performance Obligation Satisfied in Previous Period $ 21,300 $ 23,500