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Revenue - Changes in contract assets and contract liabilities (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Contract assets |  |  |
Contract asset impairment charge | $ 2,400 | $ 0 |
Net change in contract assets | (40,258) | (39,515) | $ (10,608)
Contract liabilities |  |  |
Increases due to cash received, net of amounts recognized as revenue during the period | 151,965 | 200,347 |
Change in contract liabilities related to warrants | 440 |  |
Contract liabilities assumed as part of acquisitions |  | 10,011 |
Revenue recognized that was included in the contract liability balance as of the beginning of the period | (94,001) | (163,550) |
Net change in deferred revenue and contract liabilities | 58,404 | 46,808 |
Sales of fuel cell systems |  |  |
Contract assets |  |  |
Transferred to receivables from contract assets recognized at the beginning of the period | (94,860) | (33,394) |
Change in contract assets related to warrants | 14,260 | 26,455 |
Contract asset impairment charge | (2,375) |  |
Revenue recognized and not billed as of the end of the period | 134,677 | 72,469 |
Net change in contract assets | $ 51,702 | $ 65,530 |

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