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Contract Assets and Liabilities - Summary of contract liabilities (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Contractors [Line Items]      
Deferred revenue $ 225,842   $ 223,654
Accrued loss provision 2,976   3,401
Contract liabilities 228,818   $ 227,055
Contract liabilities, Change 1,468 $ 33,619  
Change      
Contractors [Line Items]      
Deferred revenue, Change 2,188    
Accrued loss provision, Change (425)    
Contract liabilities, Change $ 1,763