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Revenue - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | ---
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Costs in excess of billings | $ 41,732 | $ 54,437 | $ 26,915
Contract with customer liability | (4,572) | (3,681) | (21,325)
Billings in excess of cost |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract with customer liability | $ (35,017) | $ (46,711) | $ (34,702)

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- Definition Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (a) -URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130549-203045 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 1 -URI https://asc.fasb.org/extlink&oid=126919976&loc=SL49130531-203044 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 45 -Paragraph 3 -URI https://asc.fasb.org/extlink&oid=126919976&loc=SL49130533-203044 + Details
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