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Revenue - Narrative (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Asset recognized related to incremental costs of obtaining a contract | $ 0 | $ 0 |
Costs in excess of billings | 41,732,000 | 54,437,000 | $ 26,915,000
Unearned revenue | 4,572,000 | 3,681,000 | 21,325,000
Revenue recognized which was in contract liabilities | 44,400,000 | 53,000,000 | 57,800,000
Billings in excess of cost |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Unearned revenue | $ 35,017,000 | $ 46,711,000 | $ 34,702,000
Minimum |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract payment terms | 30 days |  |
Maximum |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |
Contract payment terms | 60 days |  |
Remaining performance obligation expected timing of satisfaction | 1 year |  |

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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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