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Contract Assets and Liabilities - Summary of contract liabilities (Details) - USD ($) $ in Thousands | 9 Months Ended |
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Contractors [Line Items] |  |  |
Deferred revenue | $ 227,208 |  | $ 223,654
Accrued loss provision | 3,763 |  | 3,401
Contract liabilities | 230,971 |  | $ 227,055
Contract liabilities, Change | 3,941 | $ 5,582 |
Change |  |  |
Contractors [Line Items] |  |  |
Deferred revenue, Change | 3,554 |  |
Accrued loss provision, Change | 362 |  |
Contract liabilities, Change | $ 3,916 |  |

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